Obstacle Avoidance and Two Wheeled Mobile Robot Control Using Potential Function

Abstract

An obstacle avoidance scheme of two wheeled mobile robot is shown by selecting an appropriate Lyapunov function based on potential field method. When considering the obstacle, Lyapunov function may have some local minima. A method which erases the local minima is proposed by using a function which covers the minima by a plane surface. The effectiveness of the proposed method is verified by numerical simulations.