Mathematical Foundations of the Center of Area Method for Robot Navigation
The objective of this paper is to develop further the idea of using potential fields for robot navigation but changing to representation of free space instead of obstacles, because the task in robot navigation is to move in the free space not to identify the objects, and also by extending the methods to use directly virtual forces instead of the potentials as the base for robot movement, because not all driving forces will derive from a potential. After extending to a general virtual force we can select the simplest force to obtain a practical method to drive the robot by the center of area through safe places. Some particular cases of simple environments (straight wall, closed and open rooms, and corridor with a bend) are studied to analyze the properties of the proposed method, obtaining for them the resulting directions fields.
KeywordsMobile Robot Mathematical Foundation Robot Navigation Mobile Robot Navigation Virtual Force
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