DocumentCode
3376687
Title
AI-CART: an algorithm to incrementally calculate artificial potential fields in real-time
Author
Piaggio, Maurizio ; Sgorbissa, Antonio
Author_Institution
Genoa Univ., Italy
fYear
1999
fDate
1999
Firstpage
238
Lastpage
243
Abstract
Potential fields have been widely used for mobile robot navigation and obstacle avoidance. Their success is due to two main reasons: the simplicity with which a path planning problem can be represented and solved and, most of all, the computational efficiency that allows its real-time applicability. In this paper we analyze the complexity of calculating the artificial potential field and propose a novel algorithm that statistically reduces it
Keywords
computational complexity; control system analysis computing; mobile robots; navigation; path planning; real-time systems; AI-CART; artificial potential fields; computational complexity; mobile robots; navigation; obstacle avoidance; path planning; real-time systems; Algorithm design and analysis; Bismuth; Computational efficiency; Force sensors; Mobile robots; Motion control; Navigation; Path planning; Robot sensing systems; Sonar;
fLanguage
English
Publisher
ieee
Conference_Titel
Computational Intelligence in Robotics and Automation, 1999. CIRA '99. Proceedings. 1999 IEEE International Symposium on
Conference_Location
Monterey, CA
Print_ISBN
0-7803-5806-6
Type
conf
DOI
10.1109/CIRA.1999.810055
Filename
810055
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