Journal ArticleDOI
A new potential field-based algorithm for path planning
K. S. Al-Sultan,M.D.S. Aliyu +1 more
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A new potential function for path planning that has the remarkable feature that it is free from any local minima in the free space irrespective of the number of obstacles in the configuration space is introduced.Abstract:
In this paper, the path-planning problem is considered. We introduce a new potential function for path planning that has the remarkable feature that it is free from any local minima in the free space irrespective of the number of obstacles in the configuration space. The only global minimum is the goal configuration whose region of attraction extends over the whole free space. We also propose a new method for path optimization using an expanding sphere that can be used with any potential or penalty function. Simulations using a point mobile robot and smooth obstacles are presented to demonstrate the qualities of the new potential function. Finally, practical considerations are also discussed for nonpoint robotsread more
Citations
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Journal ArticleDOI
New potential functions for mobile robot path planning
Shuzhi Sam Ge,Y.J. Cui +1 more
TL;DR: New repulsive potential functions are presented by taking the relative distance between the robot and the goal into consideration, which ensures that the goal position is the global minimum of the total potential.
Journal ArticleDOI
Neural network approaches to dynamic collision-free trajectory generation
Simon X. Yang,Max Q.-H. Meng +1 more
TL;DR: In this paper, dynamic collision-free trajectory generation in a nonstationary environment is studied using biologically inspired neural network approaches and the effectiveness and efficiency of the proposed approaches are demonstrated through simulation and comparison studies.
Journal ArticleDOI
Multi-objective optimal path planning using elitist non-dominated sorting genetic algorithms
Faez Ahmed,Kalyanmoy Deb +1 more
TL;DR: The evaluation of the proposed procedure against extreme conditions having a dense (as high as 91 %) placement of obstacles indicates its robustness and efficiency in solving complex path planning problems.
Journal ArticleDOI
Real-Time Robot Path Planning Based on a Modified Pulse-Coupled Neural Network Model
TL;DR: In a static case where the barriers and targets are stationary, this paper proves that the generated wave in the network spreads outward with travel times proportional to the linking strength among neurons, so the generated path is always the global shortest path from the robot to the target.
References
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Robot Motion Planning
TL;DR: This chapter discusses the configuration space of a Rigid Object, the challenges of dealing with uncertainty, and potential field methods for solving these problems.
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Differential Equations, Dynamical Systems, and Linear Algebra
Morris W. Hirsch,Steve Smale +1 more
TL;DR: In this article, the structure theory of linear operators on finite-dimensional vector spaces has been studied and a self-contained treatment of that subject is given, along with a discussion of the relations between dynamical systems and certain fields outside pure mathematics.
Journal ArticleDOI
An algorithm for planning collision-free paths among polyhedral obstacles
TL;DR: A collision avoidance algorithm for planning a safe path for a polyhedral object moving among known polyhedral objects that transforms the obstacles so that they represent the locus of forbidden positions for an arbitrary reference point on the moving object.