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
Motion planning for mobile robots using the safety velocity obstacles method
TL;DR: A motion planning algorithm that can ensure the avoidance of static and moving obstacles in the workspace of the robot by using the Velocity Obstacles method, suitable for motion planning of mobile robots in a dynamic environment is developed and implemented.
Journal ArticleDOI
Research on active collision avoidance algorithm for intelligent vehicle based on improved artificial potential field model
TL;DR: An improved artificial potential field method is introduced, which represents the influence of environmental information with artificial force, and demonstrates the superior performance of the proposed algorithm over collision avoidance for intelligent vehicle.
Journal ArticleDOI
State-chain sequential feedback reinforcement learning for path planning of autonomous mobile robots
TL;DR: The results show that the new approach has a high convergence speed and that the robot can find the collision-free optimal path in complex unknown static environments with much shorter time, compared with the one-step Q-learning algorithm and the Q(λ)-learning algorithm.
Journal ArticleDOI
Constraints of Potential Field for Obstacle Avoidance on Car-like Mobile Robots
TL;DR: The necessity of implementing a nonholonomic motion planner is pointed out and some extensions to other potential-field-related methods are proposed to deal with the constraints of car-like robots.
Journal ArticleDOI
2D-Span Resampling of Bi-RRT in Dynamic Path Planning
Hsien-I Lin,Cheng-Sun Yang +1 more
TL;DR: This work proposes a 2D-span resampling method and post processing including pruning and smoothening of bi-directional rapidly-exploring random tree (Bi-RRT) to improve the path route and computational time of path planning.
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.
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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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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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