Home > Published Issues > 2024 > Volume 13, No. 3, 2024 >
IJMERR 2024 Vol.13(3): 408-413
doi: 10.18178/ijmerr.13.3.408-413

Development of Obstacle Avoidance Control System Using Modified Attractive Equations of Gaussian Potential Function

Kanapat Saenrit and Danai Phaoharuhansa*
Department of Mechanical Engineering, King Mongkut’s University of Technology Thonburi, Bangkok, Thailand
Email: kanapat.saen@kmutt.ac.th (K.S.); danai.pha@kmutt.ac.th (D.P.)
*Corresponding author

Manuscript received January 18, 2024; revised February 11, 2024; accepted March 18, 2024; published June 21, 2024

Abstract—Navigation system is a necessary system for autonomous vehicle and many papers proposes the techniques for trajectory tracking and obstacle avoidance. Gaussian potential function is well-known for trajectory tracking control system with obstacle avoidance using 2D lidar. The disadvantage is that it relies on local minima, which is unable to deviate the moving path in some cases that vehicle and target is moving in the same direction, and obstacle is in between because the temptation of attractive potential field is too high. Then, the trajectory tracking control with obstacle avoidance using a modified attractive function has been introduced that conventional attractive function of gaussian potential function is modified in order to improve the navigation system. The simulation is performed by CARLA Simulator and the motion of the obstacle avoidance using the modified function is considered by the sway motion during the tracking and the safety during the lateral motion, which is considered by lateral acceleration of the vehicle, its value in simulation case is less than other types of attractive function. Meanwhile, the modified function also maintains the safety distance gap between the vehicle and the obstacle to not avoid at very close range from obstacle, which probably cause the collision.

Keywords—trajectory tracking control system, obstacle avoidance, gaussian potential function, attractive function, CARLA Simulator

Cite: Kanapat Saenrit and Danai Phaoharuhansa, "Development of Obstacle Avoidance Control System Using Modified Attractive Equations of Gaussian Potential Function," International Journal of Mechanical Engineering and Robotics Research, Vol. 13, No. 3, pp. 408-413, 2024.

Copyright © 2024 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.