Collision avoidance for a mobile robot based on radial basis function hybrid force control technique

Collision avoidance is always difficult in the planning path for amobile robot. In this paper, the virtual force field between amobile robot and an obstacle is formed and regulated to maintain adesired distance by hybrid force control algorithm. Sinceuncertainties from robot dynamics and obstacle degrade theperformance of a collision avoidance task, intelligent control isused to compensate for the uncertainties. A radial basis function(RBF) neural network is used to regulate the force field of an accuratedistance between a robot and an obstacle in this paper and thensimulation studies are conducted to confirm that the proposedalgorithm is effective.