Integrated Path Following and Collision Avoidance Using a Composite Vector Field

Abstract

Path following and collision avoidance are two important functionalities for mobile robots, but there are only a few approaches dealing with both. In this paper, we propose an integrated path following and collision avoidance method using a composite vector field. The vector field for path following is integrated with that for collision avoidance via bump functions, which reduce significantly the overlapping effect. Our method is general and flexible since the desired path and the contours of the obstacles, which are described by the zero-level sets of sufficiently smooth functions, are only required to be homeomorphic to a circle or the real line, and the derivation of the vector field does not involve specific geometric constraints. In addition, the collision avoidance behaviour is reactive; thus, real-time performance is possible. We show analytically the collision avoidance and path following capabilities, and use numerical simulations to illustrate the effectiveness of the theory.