Abstract
The Agoraphilic algorithm is a new ’optimistic’ approach to obstacle avoidance. The algorithm, based on the Artificial Potential Field (APF) technique, takes a more lateral approach to obstacle avoidance. It utilizes a single attractive force, generated by the surrounding local free-space, as opposed to the classical APF whereby multiple artificial forces are employed. Adaptive Fuzzy Logic is then utilized to limit the ‘free-space’ force so as to promote the movement toward the goal. The algorithm was designed to be a robust technique for reactive navigation that could be implemented without the need for tuning the sensitive parameters required for other classical navigation routines. To demonstrate the algorithms ability, several simulations plus some preliminary experimental results are presented.
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