Abstract
An artificial potential method has problems: local minimum, computational cost and obstacles. To resolve such problems, this paper proposes the use of a spline surface. A spline surface that interpolates arbitrary shaped boundaries is used as an artificial potential to guide a robot for global motion planning. The spline surface is generated over the free space by assigning appropriate boundary conditions to the walls and other obstacles. Moreover, this paper proposes a surface driven interpolation to move a mobile robot in real time along with the proposed artificial potential. Getting peripheral information from infrared sensors and encoders, the robot creates a spline surface and generates interpolated servo data with appropriate speed control. From some experiments, this paper shows that a mobile robot can move to a target position in real-time selecting a wait action and an evasive action automatically to avoid an obstacle.
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