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This paper deals with a method of deciding robot movement by means of a potential field and simple simulations using it. In particular, two new concepts, 'state space for a robot' and'oval potential', are proposed. On the basis of the proposed method, the robot has a potential field in which to store information about its environment. The field is defined on a space that represents the robot's state (state space). By using this field, the robot determines by itself how to move to a goal. The principal concepts of this method are: (1) Use of the potential field on a state space in which the state of the robot is represented by a point enables the decision of movement to be made simply. (2) By using the oval potential for potential distribution, objects are memorized using little information and calculation of the potential values is fast.
Okutomi et al. (Wed,) studied this question.
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