Email this article Construction of Potential Fields for the Local Navigation of Mobile Robots
- Authors: Filimonov A.B.1,2, Filimonov N.B.3,4, Barashkov A.A.1
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Affiliations:
- Russian Technological University (MIREA)
- Moscow Aviation Institute (national research university)
- Lomonosov Moscow State University
- Bauman Moscow State Technical University
- Issue: Vol 55, No 4 (2019)
- Pages: 371-375
- Section: Automation Systems in Scientific Research and Industry
- URL: https://journals.rcsi.science/8756-6990/article/view/212807
- DOI: https://doi.org/10.3103/S8756699019040071
- ID: 212807
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Abstract
The issues of local navigation of mobile robots are considered. The method of artificial potential fields is analyzed as a popular method for local navigation of robots. The issue of designing attractive potential fields is investigated. The problem of local minima (traps) is discussed. A new method for avoiding obstacles by a robot moving to a goal is proposed.
About the authors
A. B. Filimonov
Russian Technological University (MIREA); Moscow Aviation Institute (national research university)
Email: nbfilimonov@mail.ru
Russian Federation, pr. Vernadskogo 78, Moscow, 119454; Volokolamskoe shosse 4, Moscow, 125993
N. B. Filimonov
Lomonosov Moscow State University; Bauman Moscow State Technical University
Author for correspondence.
Email: nbfilimonov@mail.ru
Russian Federation, Leninskie Gory 1, GSP-1, Moscow, 119991; ul. 2-ya Baumanskaya 5, Moscow, 105005
A. A. Barashkov
Russian Technological University (MIREA)
Email: nbfilimonov@mail.ru
Russian Federation, pr. Vernadskogo 78, Moscow, 119454
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