Abstract
AbstractIn this paper a Vector Field Orientation control algorithm for a differentially-driven mobile platform in an environment with obstacles is presented. The goal is to track the desired trajectory. Collision avoidance is assured using the local artificial potential function (APF) method. A proof of stability and convergence for the algorithm is presented. Effectiveness of the algorithm is illustrated with experiments on a real robot. The paper also presents how the parameters of the control algorithm influence effectiveness of the method in practice.
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