DocumentCode :
2131434
Title :
A wall-following method for escaping local minima in potential field based motion planning
Author :
Yun, Xiaoping ; Tan, Ko-Cheng
Author_Institution :
Dept. of Electr. & Comput. Eng., Naval Postgraduate Sch., Monterey, CA, USA
fYear :
1997
fDate :
7-9 Jul 1997
Firstpage :
421
Lastpage :
426
Abstract :
A wall-following method for escaping local minima encountered by the potential field based motion planning method used in real-time obstacle avoidance is presented. The new algorithm switches to a wall-following control mode when the robot falls into a local minimum. A switches back to the potential field guided control mode when a certain condition is met. A simple switch condition derived from monitoring the distance from the robot´s position to the goal position is shown to be effective in escaping local minima in typical laboratory environments. A provision is built into the algorithm, allowing the robot to follow a wall in a different direction if the first attempt fails. The new algorithm is implemented on a Nomad 200 mobile robot. Simulation and experimental results are presented to demonstrate the usefulness of the method
Keywords :
distance measurement; mobile robots; path planning; position control; sonar; Nomad 200 mobile robot; local minima escape; potential field based motion planning; real-time obstacle avoidance; wall-following method; Condition monitoring; Laplace equations; Mobile robots; Motion control; Motion planning; Navigation; Parallel robots; Robot control; Robot sensing systems; Switches;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Advanced Robotics, 1997. ICAR '97. Proceedings., 8th International Conference on
Conference_Location :
Monterey, CA
Print_ISBN :
0-7803-4160-0
Type :
conf
DOI :
10.1109/ICAR.1997.620216
Filename :
620216
Link To Document :
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