A comparison between reactive potential fields and Attractor Dynamics

We study four established reactive approaches that can be implemented on computationally weak hardware with the goal of minimizing oscillatory movements to reduce the energetic cost of robot navigation. In this regard, we examine the smoothness and variability of the control action in our analysis....

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Bibliographic Details
Published in2014 IEEE 5th Colombian Workshop on Circuits and Systems (CWCAS) pp. 1 - 5
Main Authors Carmona Hernandes, Andre, Borrero Guerrero, Henry, Becker, Marcelo, Jokeit, Jean-Stephane, Schoner, Gregor
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2014
Subjects
Collision avoidance
Measurement
Noise
Robot kinematics
Robot sensing systems
Vectors
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Summary:We study four established reactive approaches that can be implemented on computationally weak hardware with the goal of minimizing oscillatory movements to reduce the energetic cost of robot navigation. In this regard, we examine the smoothness and variability of the control action in our analysis. Sensor noise, including the large variance of GPS estimates, is evaluated. Care is taken to make the techniques comparable. Statistical data were obtained in simulation in which environments were randomly varied. We show that the second order Attractor Dynamics Approach satisfies our requirements significantly better than Potential Field approaches.
DOI:10.1109/CWCAS.2014.6994609