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Global path planning for mobile robot based on improved artificial potential function
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 Automation and Logistics, ICAL 2009
会议日期August 5-7, 2009
会议地点Shenyang, China
会议录名称Proceedings of the 2009 IEEE International Conference on Automation and Logistics, ICAL 2009
出版者IEEE
出版地NEW YORK
2009
页码1900-1904
收录类别EI ; CPCI(ISTP)
EI收录号20094812516744
WOS记录号WOS:000291503401101
产权排序2
ISBN号978-1-4244-4795-4
关键词Mobile Robot Path Planning Artificial Potential Functions Unreachable Goal
摘要There is a major problem with traditional artificial potential field method. It is the formation of local minima that can trap the robot before reaching its goal. To overcome the problem, this paper presents an improved potential field approach. It consists of two parts. The former, the improved attractive potential function, brings the minimum distance between the robot and the obstacle into consideration, and the latter, the improved repulsive potential function, includes the relative position between the robot and the target. These ensure the target is the global minimum of the artificial potential function. The simulation experiment is made under the VC++ 6.0 environment. Experimental results show that the improved approach has much higher capacity of global optimization than traditional method.
语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/20036
专题机器人学研究室
通讯作者Shi P(石璞)
作者单位1.Department of Automation Engineering, Northeastern University at Qinhuangdao, Qinhuangdao, Hebei, 066004, China
2.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
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GB/T 7714
Shi P,Zhao YW. Global path planning for mobile robot based on improved artificial potential function[C]. NEW YORK:IEEE,2009:1900-1904.
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