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Navegação Entre Obstáculos Usando Um Método De Campos De Potencial Modificados

This paper describes a modified potential fields method for robot navigation, especially suited for unicycle-type non-holonomic mobile robots. The potential field is modified so as to enhance the relevance of obstacles in the direction of the robot motion. The angular speed and linear acceleration of the robot can then be expressed as functions of the linear speed, distance and relative orientation to the obsta...