Robot Obstacle Avoidance Using Vortex Fields
A new method is presented for planning collision-free robot motions in the presence of workspace obstacles, based on the use of artificial potential fields. In previous approaches, obstacles are modeled by means of repulsive potentials, which give rise to local minima in the total field, possibly causing the planning algorithm to jam up. Instead, the core of the proposed technique is to place vortex fields around obstacles, forcing the robot to turn around them and preventing the generation of local minima. In conjunction with this, an effective planning algorithm is introduced, which is valid both for mobile robots and manipulators. Simulation results show the efficiency of the method.
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