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An efficient path planning algorithm for mobile robot using improved potential field
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
会议录名称2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
出版者IEEE Computer Society
出版地Piscataway, USA
2009
页码1704-1708
收录类别EI ; CPCI(ISTP)
EI收录号20101712895065
WOS记录号WOS:000285530501080
产权排序2
ISBN号978-1-4244-4775-6
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.

语种英语
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被引频次:4[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/10460
专题机器人学研究室
作者单位1.Department of Automation Engineering, Northeastern University at Qinhuangdao, Qinhuangdao, Hebei Province, 066004, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning Province, 110016, China
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Shi P,Zhao YW. An efficient path planning algorithm for mobile robot using improved potential field[C]//IEEE Robotics and Automation Society; National University of Defense Technology; The Chinese University of Hong Kong; City University of Hong Kong. Piscataway, USA:IEEE Computer Society,2009:1704-1708.
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