Abstract
In this research, concerning a recently reported model for a bat flight derived from experimental measurements, we give a theoretic characterization of a bat’s control model in terms of potential functions. The summation of the potential functions can create the field such that the desired point is stable and the obstacles are saddle, and is suitable for steering vehicle’s navigation with obstacle avoidance. Thus we proposed a new control law for the vehicle’s navigation such that the vehicle moves following the gradient of the bat’s potential functions. Finally, we showed the effectiveness of the our proposal control law by the numerical simulations under two conditions such that (i)blocking the right side of the vehicle’s way by forming a wall of three obstacles, (ii) blocking the both side of the vehicle’s way by forming two walls of three obstacles.
Keywords: obstacle avoidance, look-ahead angle, potential field