On the design of an obstacle avoiding trajectory: Method and simulation

The paper suggests a new mathematical construction for the potential field used in the design of obstacle avoiding trajectories. The main benefits of the proposed construction are the quickness of minimum computation and the compensation for the main drawbacks specific to the “traditional approaches” belonging to the potential field method in general. The potential field definition and its minimum computation concept are presented. Next the concept is included in a design method for obstacle avoiding trajectories. The method is expressed in the form of an algorithm for obstacle avoidance. In the following step a state-space controller is designed in order to control the car along that trajectory. Digital simulation results obtained for the complete dynamic model of a car well validate the method.