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Real-Time Obstacle Avoidance Using Potential Field for a Nonholonomic Vehicle

出版	INTECH Open Access Publisher, 2010
ISBN	95330702429789533070247
URL	http://books.google.com.hk/books?id=IRiaoAEACAAJ&hl=&source=gbs_api

註釋

In this chapter, a practical method of local obstacle avoidance for a nonholonomic vehicle with rectangular body has been proposed. Simple potential field directly using local sensor data is applied. Repulsive forces according to distances between obstacles and vehicle's body are generated at either front or rear point of action on the vehicle and their forces are treated like a lever. Both motion constraint and shape of a vehicle can be considered by this simple idea. Simulation results for various situations and experimental results by a wheelchair have proved effectiveness of our algorithm. Although this method has a disadvantage of local minima as well as general potential field method, it is intended for practical use because adequate path for local obstacle avoidance can be obtained with a little computing power. Furthermore, this algorithm may be applied to not only vehicles with two independently driven wheels but also car-like vehicles. Some improvements of the intelligent wheelchair such as 3D obstacle sensing and haptic joystick for obstacle avoidance, and consideration about general shape of vehicles are remained for our further works.