Potential field-based approach for obstacle avoidance trajectories

被引：0
作者：
Pozna, Claudiu [1 ]
Precup, Radu-Emil [2 ]
Koczy, Laszlo T.
Ballagi, Aron [3 ]
机构：
[1] Univ Transilvania Brasov Romania, Univ Szechenyi Istvan Gyor Hungary & Prod Design, Informat Dept, Brasov, Romania
[2] Politehn Univ Timisoara, Dept Automat & Appl Informat, Timisoara, Romania
[3] Szechenyi Istvan Univ Gyor, Dept Automat, Budapest, Hungary
来源：
IPSI BGD TRANSACTIONS ON INTERNET RESEARCH | 2012年 / 8卷 / 02期
关键词：
Obstacle avoidance; potential field; trajectory design; control; simulation;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper proposes a new mathematical description of the potential field used in obstacle avoidance trajectory design. The main benefits of this description are the quickness of minimum computation and the compensation for the main drawbacks of potential field method. After the presentation of the potential field definition and its minimum computation this concept is included into an obstacle avoidance trajectory design method expressed under the form of an obstacle avoidance trajectory algorithm. A state-space controller is designed in order to control the car on the obstacle avoidance trajectory. Digital simulations performed for a complete dynamic model of a car validate the method.
引用
收藏
页码：40 / 45
页数：6
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