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
More filters
Proceedings ArticleDOI
Trajectory optimization satisfying the robot's kinodynamic constraints for obstacle avoidance
Ioannis Arvanitakis,Anthony Tzes +1 more
TL;DR: In this paper, the artificial potential field is computed for the obstacle avoidance problem of a mobile robot, using harmonic-functions, given the maximum linear attainable velocity of the robot, equidistant points on the resulting path are selected.
Book ChapterDOI
Motion Planning Based on Artificial Potential Field for Unmanned Tractor in Farmland
TL;DR: The simulation of the improved motion planner for unmanned tractor is presented and the simulation results are presented to show the effectiveness of the proposed method.
Proceedings ArticleDOI
Multi-robot Rounding Strategy Based on Artificial Potential Field Method in Dynamic Environment
TL;DR: An obstacle avoidance and formation rounding strategy based on the improved artificial potential field method is proposed, which can give full play to the advantages of strong real-time artificial field method, good online computing ability and fast local processing ability, so that the car formation can be based on safety.
Book ChapterDOI
Potential and Sampling Based RRT Star for Real-Time Dynamic Motion Planning Accounting for Momentum in Cost Function
TL;DR: An approach to a real-time path planner which makes use of concepts from the random sampling of the Rapidly-exploring random tree and potential fields and revises the cost function to incorporate the dynamics of the obstacles in the environment is presented.
Journal ArticleDOI
Variable Structure Neural Networks for Adaptive Robust Control Using Evolutionary Artificial Potential Fields
Hassen Mekki,Mohamed Chtourou +1 more
TL;DR: A novel neural network architecture, that both the recruitment and the pruning is made by a single neuron, is proposed and shown to be useful in approximating the unknown nonlinearities of dynamical systems.
References
More filters
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.
Related Papers (5)
Dynamic Motion Planning for Mobile Robots Using Potential Field Method
Shuzhi Sam Ge,Y. J. Cui +1 more