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Local and global artificial potential functions in the control of mobile robots

dc.contributores-ES
dc.creatorKozlowski, K.
dc.creatorKowalczyk, W.
dc.date2018-11-26
dc.date.accessioned2018-12-04T14:32:11Z
dc.date.available2018-12-04T14:32:11Z
dc.identifierhttp://revistas.utp.ac.pa/index.php/memoutp/article/view/1872
dc.identifier.urihttp://ridda2.utp.ac.pa/handle/123456789/5758
dc.descriptionThe article presents overview of authors' results concerning mobile robot con- trol algorithms that use local arti cial potential functions (APF) to avoid colli- sions and global arti cial potential functions, named also navigation functions (NF) used to both collision avoidance and driving robot to a desired goal. All included algorithms assume that the mobile platform is di erentially driven mobile robot with nonholonomic constraints. E ectiveness of presented meth- ods is illustrated by simulation and experimental results. Experimental setup used to demonstrate control algorithms is presented.The article presents overview of authors' results concerning mobile robot con-trol algorithms that use local articial potential functions (APF) to avoid colli-sions and global articial potential functions, named also navigation functions(NF) used to both collision avoidance and driving robot to a desired goal. Allincluded algorithms assume that the mobile platform is dierentially drivenmobile robot with nonholonomic constraints. Eectiveness of presented meth-ods is illustrated by simulation and experimental results. Experimental setupused to demonstrate control algorithms is presented.es-ES
dc.formatapplication/pdf
dc.languagespa
dc.publisherUniversidad Tecnológica de Panamáes-ES
dc.relationhttp://revistas.utp.ac.pa/index.php/memoutp/article/view/1872/2818
dc.rightsinfo:eu-repo/semantics/openAccess
dc.rightshttps://creativecommons.org/licenses/by-nc-sa/4.0/
dc.sourceMemorias de Congresos UTP; 2018: The 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - CLAWAR 2018; 5-20es-ES
dc.subjectmobile robot; collision avoidance; articial potential function; nav- igation functiones-ES
dc.titleLocal and global artificial potential functions in the control of mobile robotses-ES
dc.typeinfo:eu-repo/semantics/article
dc.typeinfo:eu-repo/semantics/publishedVersion


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