MATHEMATICAL MODEL OF MODIFIED REAL-TIME OBSTACLE AVOIDANCE METHOD BASED ON LAPLACE ARTIFICIAL POTENTIAL FIELD

Authors

  • Ihor Berizka Ivan Franko National Univercity of Lviv
  • Ivan Karbovnyk Ivan Franko National Univercity of Lviv

Abstract

In this report we provide a brief overview of the family of modified obstacle avoidance methods based on classic approach which was introduced by O. Khatib in 1984. The main idea of method is in calculation of 3 fields: attractive (drives robot towards target locations), repulsive (generated by obstacles to repel robot away) and total field. 

References

B. Sciliano, O. Khatib. “Springer Handbook of Robotics”, 2nd ed. Springer-Verlag Berlin Heidelberg, 2016, pp. 1189-1190.

Jang-Ho Cho, Dong-Sung Pae, Myo-Taeg Lim, Tae-Koo Kang. (2018 Aug). A Real-Time Obstacle Avoidance Method for Autonomous Vehicles Using an Obstacle-Dependent Gaussian Potential Field. Journal of Advanced Transportation. [Online]. Available: https://doi.org/10.1155/2018/5041401

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Published

2024-06-09

Conference Proceedings Volume

2024: 1st International Scientific and Practical Conference "Problems of Computer Science, Software Modeling and Security of Digital Systems"

Section

Computer science.