DocumentCode
1984339
Title
A simple navigation algorithm with no local minima
Author
Graciano, J.P.
Author_Institution
EDISOFT S.A.
fYear
2005
fDate
18-20 July 2005
Firstpage
640
Lastpage
646
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Robotics, 2005. ICAR '05. Proceedings., 12th International Conference on
Conference_Location
Seattle, WA
Print_ISBN
0-7803-9178-0
Type
conf
DOI
10.1109/ICAR.2005.1507476
Filename
1507476
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