Qualitative Approach for Mobile Robot Path Planning based on Potential Field Methods

The present work deals on the use of qualitative reasoning in order to carry out mobile robot path planning. A qualitative approach, based on potential field like methods has been developed. Qualitative variables, and operators have been established for manipulating, in a qualitative way, the information coming from sensors of mobile autonomous robots. The developed work is focused on a multiple mobile robot environment, and path planning is done in a decentralized way. Each mobile robot will carry out its own path planning without communicating among other robots or elements that are in the environment. The potential fields like schemes used in this paper are obtained from relative positions and velocities. Mobile robot path planning based o