A hybrid algorithm based on Artificial Potential Field and BUG for path planning of mobile robot

Author

Mei Wang ; Zhiyong Su ; Dawei Tu ; Xichang Lu

Author_Institution

Sch. of Mechatronical Eng. & Autom., Shanghai Univ., Shanghai, China

Volume

02

fYear

2013

fDate

16-18 Aug. 2013

Firstpage

1393

Lastpage

1398

Abstract

A hybrid algorithm based on the Artificial Potential Field and Bug algorithm (APF-B) is developed in this paper. It is applied to the path-planning problem of mobile robot. The potential field function is modified to deal with the GNRON (Goal Non Reachable with Obstacle Nearby) problem. A BUG algorithm is introduced into the Artificial Potential Field to escape from the local minima. The convergence of this hybrid algorithm is verified. Finally, the simulated experiments show the validity of this approach.

Keywords

collision avoidance; convergence; mobile robots; APF-B algorithm; BUG algorithm; GNRON; artificial potential field and bug algorithm; convergence; goal non reachable with obstacle nearby problem; hybrid algorithm; mobile robot; path planning; path-planning problem; potential field function; Collision avoidance; Force; Mobile robots; Oscillators; Path planning; Switches; APF-B method; Path planning; mobile robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Measurement, Information and Control (ICMIC), 2013 International Conference on

Conference_Location

Harbin

Print_ISBN

978-1-4799-1390-9

Type

conf

DOI

10.1109/MIC.2013.6758219

Filename

6758219