Obstacle Avoidance using Power Potential Field for Stereo Vision based Mobile Robot

PPF를 이용한 4족 로봇의 장애물 회피

This paper describes power potential field method for the collision-free path planning of stereo-vision based mobile robot. Area based stereo matching is performed for obstacle detection in uncertain environment. The repulsive potential is constructed by distributing source points discretely and evenly on the boundaries of obstacles and superposing the power potential which is defined so that the source potential will have more influence on the robot than the sink potential when the robot is near to source point. The mobile robot approaches the goal point by moving the robot directly in negative gradient direction of the main potential. We have investigated the possibility of power potential method for the collision-free path planning of mobile robot through various experiments.