Gradient Matching Artificial Potential Field algorithm

Online Repulsion Scaling in Artificial Potential Fields via Gradient Matching at Safety-Offset Point

The aim of the modification is to ensure that the required distance to the obstacle is not violated regardless of the gradient vectors orientation. Therefore, adaptation of the scaling factor of the repulsive potential is introduced. It is based on the calculation of the position of the safety-offset point and the matching of the gradients to achieve the required direction of the mobile robot motion. The proposed Gradient Matching Artificial Potential Field algorithm has been verified using \textsc{Matlab} software to generate a thousand random environments, and experimentally using a real mobile robot, Husarion ROSbot 2.0 PRO.

The visualization of the real-time operation of the proposed GMAPF can be seen in the following URL or QR code:

https://youtu.be/lNLMlx7vcc8