Title :
New potential functions for mobile robot path planning
Author :
Ge, S.S. ; Cui, Y.J.
Author_Institution :
Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore
fDate :
10/1/2000 12:00:00 AM
Abstract :
The paper first describes the problem of goals unreachable with obstacles nearby when using potential field methods for mobile robot path planning. Then, new repulsive potential functions are presented by taking the relative distance between the robot and the goal into consideration, which ensures that the goal position is the global minimum of the total potential
Keywords :
functions; mobile robots; path planning; global minimum; goal position; obstacles; potential field methods; relative distance; repulsive potential functions; Control systems; Mathematical analysis; Mobile robots; Path planning; Robotics and automation; Safety; Two dimensional displays;
Journal_Title :
Robotics and Automation, IEEE Transactions on
