| Mobile Robot Control Based on Dynamic Potential |
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| 作者姓名： | Wang Tianmiao Zhang Bo He Kezhong Yuan ZengrenComputer Science department Tsinghua University Beijing P.R.China |
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| 作者单位： | Wang Tianmiao，Zhang Bo，He Kezhong，Yuan ZengrenComputer Science department，Tsinghua University，Beijing 100084，P.R.China |
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| 摘 要： | An efficient method is presented for implementing mobile robot perception-action behaviors, based on time-varying environment potential field approach. First, in this paper, the concept of dynamic potential U(x,y,z,t) is proposed for representing the environment of a mobile robot, and the form of U(x,y,z,t) is deduced, and then the velocity control of the vehicle with two wheel is directly calculated by transition function T of U(x,y,z,t). Finally, the perception-action layer is successfully implemented for avoiding collision, wandering, and integrating path planning and steering control on THMR-Ⅱ (TsingHua university Mobile Robot system). Based on sonar array signals, the experimental results are given to show that THMR-Ⅱ has better reflexive function, real-time obstacle avoidance, adaptablity and robustness for complex environments.
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Mobile Robot Control Based on Dynamic Potential |
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| Wang Tianmiao,Zhang Bo,He Kezhong,Yuan ZengrenComputer Science department,Tsinghua University,Beijing ,P.R.China.Mobile Robot Control Based on Dynamic Potential[J].Journal of Systems Engineering and Electronics,1992(1). |
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| Authors: | Wang Tianmiao Zhang Bo He Kezhong Yuan ZengrenComputer Science department Tsinghua University Beijing PRChina |
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| Institution: | Wang Tianmiao,Zhang Bo,He Kezhong,Yuan ZengrenComputer Science department,Tsinghua University,Beijing 100084,P.R.China |
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| Abstract: | |
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| Keywords: | Time-varying poteatial field Perception- action behavior Dynamic potential Velocity control |
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