Navigation and collision avoidance for nonholonomic robots using quadrupole potential function

In this paper, for path planning in indoor cluttered environments, a non-holonomic motion planner based on a novel artificial potential field is presented. Combined with a low-level controller, it not only guarantees obstacle avoidance but also can stabilize the noholonomic mobile robot to a goal configuration including orientation. The proposed approach has been implemented in planar scenarios and the navigation of the robot from an arbitrary initial configuration to a goal configuration while avoiding collision has been demonstrated.