110 Study on Automatic Generation of Potential Field by Using Genetic Programming(Application to Path Planning for Mobile Robots)

2012 ◽  
Vol 2012.61 (0) ◽  
pp. _110-1_-_110-2_
Author(s):  
Yuki GOTO ◽  
Naoki Mizuno
Keyword(s):  
Path Planning ◽  
Genetic Programming ◽  
Mobile Robots ◽  
Potential Field ◽  
Automatic Generation

scholarly journals Mobile Robots Path Planning Using the Overall Conflict Resolution and Time Baseline Coordination

2014 ◽  
Vol 2014 ◽  
pp. 1-13 ◽  
Author(s):  
Yong Ma ◽  
Hongwei Wang ◽  
Langxiong Gan ◽  
Min Guo ◽  
Liwen Huang ◽  
...  
Keyword(s):  
Conflict Resolution ◽  
Path Planning ◽  
Mobile Robots ◽  
Shortest Paths ◽  
Automatic Generation ◽  
Planning Problem ◽  
Strong Point ◽  
Basic Task ◽  
Safety Constraints ◽  
Time Varying Environment

This paper aims at resolving the path planning problem in a time-varying environment based on the idea of overall conflict resolution and the algorithm of time baseline coordination. The basic task of the introduced path planning algorithms is to fulfill the automatic generation of the shortest paths from the defined start poses to their end poses with consideration of generous constraints for multiple mobile robots. Building on this, by using the overall conflict resolution, within the polynomial based paths, we take into account all the constraints including smoothness, motion boundary, kinematics constraints, obstacle avoidance, and safety constraints among robots together. And time baseline coordination algorithm is proposed to process the above formulated problem. The foremost strong point is that much time can be saved with our approach. Numerical simulations verify the effectiveness of our approach.

A Novel Approach for Path Planning Based on Reactive Behavior-Artificial Potential Filed

2014 ◽  
Vol 529 ◽  
pp. 646-649 ◽  
Author(s):  
Long Xiang Yang ◽  
Zai Xin Liu ◽  
Hao Tang
Keyword(s):  
Path Planning ◽  
Mobile Robots ◽  
Real Time ◽  
Potential Field ◽  
Artificial Potential Field ◽  
Optimal Selection ◽  
Local Minima ◽  
Novel Approach ◽  
Reactive Behavior ◽  
Real Time Application

The main objective of this paper is to focus on the local minima and the GNRON issues encountered in path planning by the artificial potential field (APF) method, and propose a novel approach to plan a trajectory adaptive for the environment that the obstacles are randomly distributed. By introducing the ideas of reactive behaviors (RB), the RB-APF method is presented, which combines the efficiency of the APF with the simplicity of the RB, so it can be suitable for real-time application in mobile robots. In this algorithm (RB-APF), the switch conditions and optimal selection equations are reasonably designed with the consideration of the different circumstances of the robot located in. Simulations are presented and the results further demonstrate that the proposed approach is applicable for the environment that obstacles are randomly distributed.

A novel potential field method for path planning of mobile robots by adapting animal motion attributes

2016 ◽  
Vol 82 ◽  
pp. 24-34 ◽  
Author(s):  
Bence Kovács ◽  
Géza Szayer ◽  
Ferenc Tajti ◽  
Mauricio Burdelis ◽  
Péter Korondi
Keyword(s):  
Path Planning ◽  
Mobile Robots ◽  
Potential Field ◽  
Field Method ◽  
Potential Field Method
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