Avoiding Obstacle Control of Mobile Robot Based on Artificial Potential Field Method

2014 ◽  
Vol 556-562 ◽  
pp. 2325-2328 ◽  
Author(s):  
Jing Wang
Keyword(s):  
Mobile Robot ◽  
Control Strategy ◽  
Potential Field ◽  
Field Method ◽  
Artificial Potential Field ◽  
Target Point ◽  
Simulation Environment ◽  
Sonar Sensor ◽  
Artificial Potential Field Method ◽  
Moving Speed

Avoiding obstacle control strategy of Mobile robot based on Artificial Potential Field is addressed in this paper, detecting ambient by use of sonar sensor .Setting target point and the moving speed arbitrarily in mobile simulation environment, these avoid obstacle moment are conducted successfully.

Multi-Robots Path Planning Based on Improved Artificial Potential Field Method

2012 ◽  
Vol 562-564 ◽  
pp. 937-940 ◽  
Author(s):  
Yu Lan Hu ◽  
Qi Song Zhang
Keyword(s):  
Gravitational Field ◽  
Path Planning ◽  
Potential Field ◽  
Field Method ◽  
Artificial Potential Field ◽  
Target Point ◽  
Field Function ◽  
Dynamic Movement ◽  
Potential Field Method ◽  
Artificial Potential Field Method

Mobile path planning is a focus area and the key to intelligent technologies in robot. As one of the most basic and important topics the problem of mobile robot path planning solve the trouble that the robot avoid obstacles in the environment and how to successfully reach the destination. On the emergence of case that is the robot can not reach the target point and easy to fall into local minimum .This will be optimized by improving the way repulsive field function, When the robot close to the target point, not only the gravity of the gravitational field continue to reduce but also the repulsion of the repulsive force field has also been decreasing. This would solve the problem that when the robot reach the target point but easy to fall into local minimal solution. In traditional artificial potential field method, the target is static, but due to prey (i.e. target) is dynamic in this article, the traditional artificial potential field of gravitational field function is not suitable for the situation discussed. Therefore this paper puts forward a dynamic movement is based on the goal of the gravitational field of new functions.

scholarly journals An Improved Path Planning Method Based on Artificial Potential Field for a Mobile Robot

2015 ◽  
Vol 15 (2) ◽  
pp. 181-191 ◽  
Author(s):  
Wenbai Chen ◽  
Xibao Wu ◽  
Yang Lu
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Potential Field ◽  
Field Method ◽  
Artificial Potential Field ◽  
Improved Method ◽  
Chaos Optimization ◽  
Potential Field Method ◽  
Artificial Potential Field Method ◽  
Robot Path

Abstract To solve the problem of local minima and unreachable destination of the traditional artificial potential field method in mobile robot path planning, chaos optimization is introduced to improve the artificial potential field method. The potential field function was adopted as a target function of chaos optimization, and a kind of “two-stage” chaos optimization was used. The corresponding movement step and direction of the robot were achieved by chaos search. Comparison of the improved method proposed in this paper and the traditional artificial potential field method is performed by simulation. The simulation results show that the improved method gets rid of the drawbacks, such as local minima and unreachable goal. Furthermore, the improved method is also verified by building up a physical platform based on “Future Star” robot. The success of the physical experiment indicates that the improved algorithm is feasible and efficient for mobile robot path planning.

scholarly journals Path Planning of Mobile Robot Using Fuzzy-Potential Field Method

2015 ◽  
Vol 11 (1) ◽  
pp. 32-41
Author(s):  
Alaa Ahmed ◽  
Turki Abdalla ◽  
Ali Abed
Keyword(s):  
Fuzzy Logic ◽  
Mobile Robot ◽  
Potential Field ◽  
Fuzzy Logic Controller ◽  
Field Method ◽  
Artificial Potential Field ◽  
Local Minima ◽  
Potential Field Method ◽  
Artificial Potential Field Method

This paper deals with the navigation of a mobile robot in unknown environment using artificial potential field method. The aim of this paper is to develop a complete method that allows the mobile robot to reach its goal while avoiding unknown obstacles on its path. An approach proposed is introduced in this paper based on combing the artificial potential field method with fuzzy logic controller to solve drawbacks of artificial potential field method such as local minima problems, make an effective motion planner and improve the quality of the trajectory of mobile robot.

Path Planning of Mobile Robot Based on Improved Artificial Potential Field Method

2014 ◽  
Vol 644-650 ◽  
pp. 154-157 ◽  
Author(s):  
Su Ying Zhang ◽  
Yan Kai Shen ◽  
Wen Shuai Cui
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Potential Field ◽  
High Efficiency ◽  
Field Method ◽  
Artificial Potential Field ◽  
Local Minima ◽  
Potential Field Method ◽  
Smooth Path ◽  
Artificial Potential Field Method

The artificial potential field method has been extensively used in mobile robot path planning for its characteristics of simpleness, high efficiency, and smooth path. In this paper, to solve the problem of local minima in traditional artificial potential field method, A modified form of repulsion function is proposed. A detour force is added to the repulsion function, the problem of local minima can be solved effectively. In the end, with the help of Matlab software simulating, the result shows that this method is simple and effective.

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