The synthesis of inhibitory quasi-fields of obstacles for SUGV on-board path planning system.

Abstract

The synthesis of inhibitory quasi-fields of obstacles for SUGV on-board path planning system.

U.V. Chernuhin, P.A. Butov

Incoming article date: 26.05.2014

The article presents an approach to synthesis of inhibitory quasi-fields of obstacles for SUGV on-board path planning system, algorithmic basis of which is an adaptive control method for intellectual robots. The inhibitory quasi-fields of obstacles are used for path optimization by safety criteria.

Keywords: Robotics, SUGV, local navigation, path planning, trajectory optimization