Non holonomic local navigation by means of time and speed dependent artificial potential fields ; Navigation locale non holonomique par la méthode des champs potentiels artificiels dépendant du temps et de la vitesse

[Departement_IRSTEA]EAA [TR1_IRSTEA]EAA1-MECAFUTUR, Conception de machines intelligentes pour la sylviculture, l'agriculture et l'entretien des espaces naturels ; International audience ; The study presented here concerns the local navigation problem of mobile robots, using the Artificial Potential Fields method. First, a solution to solve it main basic limitation, the local minima presence in the potential field, is proposed. This is done by a systematic local reshaping that allows to conserve the low complexity and the local aspect of the basic method. In a second time, a theoretical analysis of mobile robot non holonomic constraints leads to introduce a new concept : the “electrostatic like” or speed-dependent potential fields. Those repulsive fields create on the robot a continuous varying centrifugal force that realises the obstacles avoidance and respects non holonomy. Simulation results are very encouraging when we respect the basic assumption that the robot does not have to manoeuvre ; Cette étude présente le problème de la navigation locale des robots mobiles utilisant la méthode des champs potentiels artificiels.