Artificial potential field based path planning for mobile robots using a virtual obstacle concept

Author

Lee, Min Cheol ; Park, Min Gyu

Author_Institution

Graduate Sch. of Mech. & Intelligent Syst. Eng., Pusan Nat. Univ., South Korea

Volume

2

fYear

2003

fDate

20-24 July 2003

Firstpage

735

Abstract

The artificial potential field (APF) based path planning methods have a local minimum problem, which can trap mobile robots before reaching it´s goal. In this study, a new concept using a virtual obstacle is proposed to escape local minimums occurred in local path planning. A virtual obstacle is located around local minimums to repel a mobile robot from local minimums. A sensor based discrete modeling method is also proposed for modeling of the mobile robot with range sensors. This modeling method is adaptable for a real-time path planning because it provides lower complexity.

Keywords

collision avoidance; mobile robots; optimisation; path planning; real-time systems; sensors; artificial potential field; local minimum problem; mobile robots; path planning; range sensors; real time path planning; sensor based discrete modeling method; virtual obstacle; virtual obstacle concept; Artificial intelligence; Intelligent robots; Intelligent systems; Mechanical engineering; Mechanical sensors; Mobile robots; Path planning; Potential energy; Robot sensing systems; Systems engineering and theory;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on

Print_ISBN

0-7803-7759-1

Type

conf

DOI

10.1109/AIM.2003.1225434

Filename

1225434