Virtual obstacle concept for local-minimum-recovery in potential-field based navigation

Author

Chengqing, Liu ; Ang, Marcelo H., Jr. ; Krishnan, Hariharan ; Yong, Lim Ser

Author_Institution

Dept. of Mech. & Production Eng., Nat. Univ. of Singapore, Singapore

Volume

2

fYear

2000

fDate

2000

Firstpage

983

Abstract

Presents a navigation algorithm, which integrates a virtual obstacle concept with a potential-field-based method to manoeuvre cylindrical mobile robots in unknown or unstructured environments. This study focuses on the real-time feature of the navigation algorithm for fast moving mobile robots. We mainly consider the potential-field method in conjunction with virtual obstacle concept as the basis of our navigation algorithm. Simulation and experiments of our algorithm shows good performance and ability to overcome the local minimum problem associated with potential field methods

Keywords

distance measurement; mobile robots; path planning; ultrasonic transducers; cylindrical mobile robots; fast moving mobile robots; local-minimum-recovery; potential-field based navigation; unknown environments; unstructured environments; virtual obstacle concept; Control systems; Feedback; Mobile robots; Motion control; Motion planning; Navigation; Orbital robotics; Production engineering; Robot control; Robot motion;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on

Conference_Location

San Francisco, CA

ISSN

1050-4729

Print_ISBN

0-7803-5886-4

Type

conf

DOI

10.1109/ROBOT.2000.844728

Filename

844728