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
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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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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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