New potential functions for mobile robot path planning

被引：567

作者：

Ge, SS ^{[1
]}

Cui, YJ ^{[1
]}

机构：

[1] Natl Univ Singapore, Dept Elect & Comp Engn, Singapore 117576, Singapore

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2000年 / 16卷 / 05期

关键词：

GNRON problem; new repulsive potential function; potential field;

D O I：

10.1109/70.880813

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper first describes the problem of goals nonreachable with obstacles nearby when using potential field methods for mobile robot path planning. Then, new repulsive potential functions are presented by taking the relative distance between the robot and the goal into consideration, which ensurers that the goal position is the global minimum of the total potential.

引用

页码：615 / 620

页数：6

共 17 条

[1] A new potential field-based algorithm for path planning [J].

AlSultan, KS ;

Aliyu, MDS .

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 1996, 17 (03) :265-282

[2] REAL-TIME OBSTACLE AVOIDANCE FOR FAST MOBILE ROBOTS [J].

BORENSTEIN, J ;

KOREN, Y .

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS, 1989, 19 (05) :1179-1187

[3]

Canny J. F., 1990, Proceedings 1990 IEEE International Conference on Robotics and Automation (Cat. No.90CH2876-1), P1554, DOI 10.1109/ROBOT.1990.126229

[4] An analytically tractable potential field model of free space and its application in obstacle avoidance [J].

Chuang, JH ;

Ahuja, N .

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS, 1998, 28 (05) :729-736

[5] SLIDING MODE CONTROL FOR GRADIENT TRACKING AND ROBOT NAVIGATION USING ARTIFICIAL POTENTIAL FIELDS [J].

GULDNER, J ;

UTKIN, VI .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1995, 11 (02) :247-254

[6]

HUSSIEN B, 1989, THESIS U MISSOURI CO

[7] Collision avoidance using potential fields [J].

Juang, JG .

INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL, 1998, 25 (06) :408-+

[8]

Katevas NI, 1998, ADV ROBOTICS, V12, P373, DOI 10.1163/156855398X00253

[9] REAL-TIME OBSTACLE AVOIDANCE FOR MANIPULATORS AND MOBILE ROBOTS [J].

KHATIB, O .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1986, 5 (01) :90-98

[10]

Koditschek D. E, 1989, CONT MATH, V97, P131

← 1 2 →