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Dynamic Motion Planning for Mobile Robots Using Potential Field Method

Dynamic Motion Planning for Mobile Robots Using Potential Field Method The potential field method is widely used for autonomous mobile robot path planning due to its elegant mathematical analysis and simplicity. However, most researches have been focused on solving the motion planning problem in a stationary environment where both targets and obstacles are stationary. This paper proposes a new potential field method for motion planning of mobile robots in a dynamic environment where the target and the obstacles are moving. Firstly, the new potential function and the corresponding virtual force are defined. Then, the problem of local minima is discussed. Finally, extensive computer simulations and hardware experiments are carried out to demonstrate the effectiveness of the dynamic motion planning schemes based on the new potential field method. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Autonomous Robots Springer Journals

Dynamic Motion Planning for Mobile Robots Using Potential Field Method

Ge, S.S.; Cui, Y.J.
Autonomous Robots , Volume 13 (3) – Oct 10, 2004
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References (28)

Publisher
Springer Journals
Copyright
Copyright © 2002 by Kluwer Academic Publishers
Subject
Engineering; Robotics and Automation; Artificial Intelligence (incl. Robotics); Computer Imaging, Vision, Pattern Recognition and Graphics; Control, Robotics, Mechatronics
ISSN
0929-5593
eISSN
1573-7527
DOI
10.1023/A:1020564024509
Publisher site
See Article on Publisher Site

Abstract

The potential field method is widely used for autonomous mobile robot path planning due to its elegant mathematical analysis and simplicity. However, most researches have been focused on solving the motion planning problem in a stationary environment where both targets and obstacles are stationary. This paper proposes a new potential field method for motion planning of mobile robots in a dynamic environment where the target and the obstacles are moving. Firstly, the new potential function and the corresponding virtual force are defined. Then, the problem of local minima is discussed. Finally, extensive computer simulations and hardware experiments are carried out to demonstrate the effectiveness of the dynamic motion planning schemes based on the new potential field method.

Journal

Autonomous Robots – Springer Journals

Published: Oct 10, 2004

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