Proceedings ArticleDOI
An Evolutionary Artificial Potential Field Algorithm for Dynamic Path Planning of Mobile Robot
Cao Qi-xin,Huang Yanwen,Zhou Jingliang +2 more
- pp 3331-3336
TLDR
A new APF method for path-planning of mobile robots in a dynamic environment where the target and obstacles are moving is proposed, and the new force function and the relative threat coefficient function are defined.Abstract:
The artificial potential field (APF) method is widely used for autonomous mobile robot path planning due to its simplicity and mathematical elegance. However, most researches are focused on solving the path-planning problem in a stationary environment, where both targets and obstacles are stationary. This paper proposes a new APF method for path planning of mobile robots in a dynamic environment where the target and obstacles are moving. Firstly, the new force function and the relative threat coefficient function are defined. Then, a new APF path-planning algorithm based on the relative threat coefficient is presented. Finally, computer simulation and experiment are used to demonstrate the effectiveness of the dynamic path-planning scheme.read more
Citations
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Proceedings ArticleDOI
An efficient path planning algorithm for mobile robot using improved potential field
Pu Shi,Yiwen Zhao +1 more
TL;DR: The new method includes an improved attractive potential function and an improved repulsive potential function that takes into account the minimum separation between robot and obstacles and ensures the target is ensured as the global minimum in working space.
Journal ArticleDOI
An Improved Path Planning Method Based on Artificial Potential Field for a Mobile Robot
Wenbai Chen,Xibao Wu,Yang Lu +2 more
TL;DR: Comparison of the improved method proposed in this paper and the traditional artificial potential field method is performed by simulation and results show that the improved algorithm gets rid of the drawbacks, such as local minima and unreachable goal.
Proceedings ArticleDOI
The dynamic path planning research for mobile robot based on artificial potential field
TL;DR: Simulation results show that this model based on classic artificial potential field potential field on the basis of considering dynamic model of velocity potential field can effectively improve the performance of path planning.
Journal ArticleDOI
A Motion Planning Method for Omnidirectional Mobile Robot Based on the Anisotropic Characteristics
TL;DR: The novel concept of an Anisotropic-Function is proposed to indicate the quality of motion in different directions, which can make a very favorable trade-off between time- optimality, stability and efficacy-optimality.
Journal ArticleDOI
Smart Obstacle Avoidance Using a Danger Index for a Dynamic Environment
TL;DR: An improved version of the artificial potential field method is presented, which uses a dynamic window approach to solve the local minimum problem and define a danger index in the speed field for moving object avoidance.
References
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Journal ArticleDOI
Real-time obstacle avoidance for manipulators and mobile robots
TL;DR: This paper reformulated the manipulator con trol problem as direct control of manipulator motion in operational space—the space in which the task is originally described—rather than as control of the task's corresponding joint space motion obtained only after geometric and geometric transformation.
Book
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.
Book
Real-time obstacle avoidance for manipulators and mobile robots
TL;DR: This paper reformulated the manipulator control problem as direct control of manipulator motion in operational space-the space in which the task is originally described-rather than as control of the task's corresponding joint space motion obtained only after geometric and kinematic transformation.
Journal ArticleDOI
Dynamic Motion Planning for Mobile Robots Using Potential Field Method
Shuzhi Sam Ge,Y. J. Cui +1 more
TL;DR: A new potential field method for motion planning of mobile robots in a dynamic environment where the target and the obstacles are moving is proposed and the problem of local minima is discussed.
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.
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