Modified potential fields applied to robot control inside three-dimentional environments

Author(s)

Marcelo Oliveira da Silva

• Document type: Doctoral Thesis
• Press: São Carlos.
• Institution: Universidade de São Paulo (USP). Instituto de Ciências Matemáticas e de Computação (ICMC/SB)
• Defense date: 2018-12-18

Examining board members

Roseli Aparecida Francelin Romero; Rodrigo Calvo; André Carlos Ponce de Leon Ferreira de Carvalho; Josue Junior Guimarães Ramos; André de Souza Tarallo

• Advisor: Roseli Aparecida Francelin Romero

Abstract

In recent years, aerial robots have become increasingly important in day-to-day situations, in several uses, in which we can highlight: public and private security, precision agriculture, photographic record of events, delivery and support to several other areas, such as environmental monitoring. In order for aerial robots perform their broad range of tasks, a motion planning step is necessary. Motion planning consists in finding a feasible path between the current posture and a final posture (also called target posture or goal) of a robot. In this work, the task of motion planning is approached in three-dimensional and dynamic environments, in which it is not assumed that all the obstacles will remain fixed along the trajectory. Derived from Harmonic Potential Field Theory, Modified Potential Fields (MPF) allows a controlled distortion of the potential field, as an example, towards a specific direction of arrival to the target posture. Such MPF results in a motion planner for dynamic and multidimensional environments, especially the three-dimensional case. (AU)

• FAPESP's process: 13/02746-0 - Coupled trajectory planning with kinodynamic constraints and environmental uncertainty for multiple agents inside a 3D environment
• Grantee: Marcelo Oliveira da Silva
• Support Opportunities: Scholarships in Brazil - Doctorate