Method for planning the trajectories of mobile objects in conditions of uncertainty

Method of potential fields
The robot must move in accordance with this force.

Method of potential fields
The robot approaches the obstacle, the repulsive force will act on it, pushing the robot away from the obstacle.

Method of potential fields
Robot pushes back from the obstacle and goes to the goal.

Method of potential fields
The total potential field:
Ug(q) – the potential field of the target point
Uo(q) – the potential field of the obstacle field
The induced force is calculated:
U(q) –the potential field
r(q,g) - the Euclidean distance between a robot in a state q and a goal
r(q,o) – the Euclidean distance between a robot in a state q and the nearest point to the obstacle

Method of potential fields
Advantages
* It is able to hold the robot at any
point of the simulated environment.
*Vectors of resistance are calculated only by the indications of the sensors at the current time.
Disadvantage
* High probability of getting into the local minimum.