A Vector Potential Function-Based Collision Avoidance Control  for Differential-Steered Robots

Anugrah K Pamosoaji

doi:10.18495/comengapp.v7i3.265

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Affiliations

Anugrah K Pamosoaji
Faculty of Industrial Technology, Universitas Atma Jaya Yogyakarta

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A Vector Potential Function-Based Collision Avoidance Control for Differential-Steered Robots

Anugrah K Pamosoaji

Vol 7 No 3 (2018)

DOI 10.18495/comengapp.v7i3.265

Submitted: Jul 15, 2018

Published: Oct 18, 2018

Abstract

A collision avoidance control that tracks a vector potential field-based velocity plan of a differential-steered robot is designed. Vector potential function (VPF) is a type of potential function used for motion planning. The plan resulted by the VPF is the desired velocity vector of the robot on all points in collision-free space. The problem to address in this paper is velocity tracking control in the environment of a circular obstacle. A controller is designed to track the VPF-based velocity plan. A concept of collision cone will be used to evaluate the ability of the controller to avoid collision between the robot and the obstacle. The stability of the controller is verified by using the Lyapunov stability analysis. Simulations of the controllerâ€™s performance are presented.