Title :
A simple navigation algorithm with no local minima
Author_Institution :
EDISOFT S.A.
Abstract :
In this article we propose a new function, or algorithm, for navigation of robots that interprets artificial potential functions in a differential game theory framework. The total artificial potential field used for navigation is constructed in a way that eliminates the local minima problem. This also allows for the use of a broader range of AP-functions. Situations with single and multiple obstacles are simulated. Results are shown to be encouraging
Keywords :
collision avoidance; differential games; mobile robots; navigation; robot dynamics; artificial potential field; artificial potential function; differential game theory; local minima problem; multiple obstacles; robot navigation; single obstacle; Fluid dynamics; Game theory; Genetic algorithms; Heat transfer; Maxwell equations; Navigation; Path planning; Robots; Simulated annealing; Steady-state;
Conference_Titel :
Advanced Robotics, 2005. ICAR '05. Proceedings., 12th International Conference on
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-9178-0
DOI :
10.1109/ICAR.2005.1507476
