Title :
AI-CART: an algorithm to incrementally calculate artificial potential fields in real-time
Author :
Piaggio, Maurizio ; Sgorbissa, Antonio
Author_Institution :
Genoa Univ., Italy
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;
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
DOI :
10.1109/CIRA.1999.810055
