DocumentCode
1402450
Title
New potential functions for mobile robot path planning
Author
Ge, S.S. ; Cui, Y.J.
Author_Institution
Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore
Volume
16
Issue
5
fYear
2000
fDate
10/1/2000 12:00:00 AM
Firstpage
615
Lastpage
620
Abstract
The paper first describes the problem of goals unreachable with obstacles nearby when using potential field methods for mobile robot path planning. Then, 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
Keywords
functions; mobile robots; path planning; global minimum; goal position; obstacles; potential field methods; relative distance; repulsive potential functions; Control systems; Mathematical analysis; Mobile robots; Path planning; Robotics and automation; Safety; Two dimensional displays;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Transactions on
Publisher
ieee
ISSN
1042-296X
Type
jour
DOI
10.1109/70.880813
Filename
880813
Link To Document