Title :
Optimal motion planning for mobile robot based on potential fields
Author :
Dong, Lizhi ; Sun, Maoxiang ; Dong, Zaili
Author_Institution :
Sch. of Inf. Sci. & Engg., Shenyang Univ. of Technol., China
Abstract :
The paper addresses motion planning for a mobile robot in a dynamic environment with multiple moving obstacles. A motion planning strategy based on potential field and optimal control theory is presented for mobile robots to solve the problem of navigation and obstacles avoidance. Simulation results are presented to show fine real-time property, avoid the obstacles effectively and almost arrive at the goal on time.
Keywords :
mobile robots; optimal control; path planning; dynamic environment; mobile robot; multiple moving obstacles; navigation; obstacles avoidance; optimal control theory; optimal motion planning; potential fields; real-time property; Information science; Mobile robots; Motion planning; Navigation; Optimal control; Robotics and automation; Strategic planning; Technology planning;
Conference_Titel :
Intelligent Control and Automation, 2002. Proceedings of the 4th World Congress on
Print_ISBN :
0-7803-7268-9
DOI :
10.1109/WCICA.2002.1020760
