Automatic guidance of mobile robots in two-way traffic (Q761397)

A method of control is devised to guide a mobile robot automatically through a passage without collision in an environment of obstacles. The guidance strategy is based on the premise that each obstacle exerts upon the mobile robot a repulsion, which varies inversely with the distance between the robot and the obstacle, and becomes infinite as the robot approaches the obstacle. To reduce the processing time a simple kinematic model is considered; no account is taken of dynamic effects and wheel slips. However, the mobile robot is said to be intelligent, such that deviations from the ideal path due to realistic conditions may be for the most part corrected by subsequent inputs from the sensory device.