Title :
Gradient method for autonomous robot navigation
Author :
Adamiv, Oleh ; Sachenko, Anatoly ; Kapura, Viktor
Author_Institution :
Res. Inst. of Intell. Comput. Syst., Ternopil Nat. Economic Univ., Ternopil, Ukraine
Abstract :
The analysis of global and local navigation methods for an autonomous mobile robot allowed to select the main lacks of existent methods of navigation. The improved local navigation method based on the use of potential fields for movement taking into account the gradient of direction to the goal is proposed.
Keywords :
gradient methods; mobile robots; navigation; path planning; autonomous mobile robot; autonomous robot navigation; global navigation method; gradient method; local navigation method; potential fields; Global Navigation Method; Gradient Search Method; Local Navigation Method; Mobile Robot; Robot Control;
Conference_Titel :
Modern Problems of Radio Engineering, Telecommunications and Computer Science, 2008 Proceedings of International Conference on
Conference_Location :
Lviv-Slavsko
Print_ISBN :
978-966-553-678-9
