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题名: An efficient path planning algorithm for mobile robot using improved potential field
作者: Shi P(石璞) ; Zhao YW(赵忆文)
作者部门: 机器人学研究室
会议名称: 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
会议日期: December 19-23, 2009
会议地点: Guilin, China
会议主办者: IEEE Robotics and Automation Society; National University of Defense Technology; The Chinese University of Hong Kong; City University of Hong Kong
会议录: 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
会议录出版者: IEEE Computer Society
会议录出版地: Piscataway, USA
出版日期: 2009
页码: 1704-1708
收录类别: CPCI(ISTP) ; EI
ISBN号: 9781424447756
关键词: Active filters ; Biomimetics ; Mobile robots ; Robotics ; Targets
摘要: Traditional APF-based mobile robot path planning approaches posses an inherent problem which is the formation of local minimum that probably prevent robot from arriving at the target. In view of those considerations, an improved potential field function is proposed to settle this problem. The new method includes an improved attractive potential function and an improved repulsive potential function. The attractive potential function takes into account the minimum separation between robot and obstacles, while the repulsive potential function takes into account the relative position between robot and the target. As a result, the target is ensured as the global minimum in working space. Simulation experiments are performed and the results demonstrate the effectiveness of the improved method. © 2009 IEEE.
产权排序: 2
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/10460
Appears in Collections:机器人学研究室_会议论文

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