Experiments on the Artificial Potential Field with Local Attractors for Mobile Robot Navigation

摘要

Obstacle avoidance is a challenging task in robot navigation, as it requires efficient and reliable methods to avoid collision and reach the desired goal. Artificial potential field methods are widely used for this purpose, as they are efficient, effective, and easy to implement. However, they are limited by the use of only one global attractor at the goal. This paper introduces and evaluates experimentally a novel technique that enhances the artificial potential field method with local attractors. Local attractors can be positioned around the obstacle so as to guide the robot detouring through preferred regions. Thus, the side the robot will pass by can be determined in advance, making the collision-free path predictable. The technique is formulated by modelling local attractors as optimal inflections, i.e., regions that do not show local minima, which coexist with the potential field generated by the obstacle and the global attractor. The method is validated using a laboratory setup that employs a camera and markers to track the poses of the robot, the obstacle, and the target. A series of experiments are conducted to examine the effect of the local attractor under different test conditions, obtained by varying the obstacle pose, the attraction intensity, and the robot velocity. The experimental results demonstrate the effectiveness of the proposed technique and highlight the aspects that require further investigation for its improvement and application.