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Path Planning for Autonomous Mobile Robot using Potential Field

Jung, Kwang-Min    (School of Electrical and Electronics Engineering, Chung-Ang University   ); Sim, Kwee-Bo    (School of Electrical and Electronics Engineering, Chung-Ang University  );
  • 초록

    The popularity of autonomous mobile robots have been rapidly increasing due to their new emerging application areas, from room cleaning, tourist guidance to space explorations. However, the development of a satisfactory control algorithm that will enable the autonomous mobile robots to navigate safely especially in dynamic environments is still an open research problem. In this paper, a newly proposed potential field based control method is implemented, analyzed, and improvements are suggested based on experimental results obtained from simulations. The experimental results are presented to show the effectiveness of the behavior-based control using the proposed potential field generation technique.


  • 주제어

    Path planning .   Potential field .   Autonomous mobile robot .   Navigation .   Dynamic environment.  

  • 참고문헌 (7)

    1. Thomas Braunl, Embedded Robotics, Springer-Verlag, Berlin, Heidelberg 2003 
    2. S. Yannier, A. Onat, A. sabanovic, 'Basic Configuration for Mobile Robots', International Conference on Industrial Technology, ICIT03, Maribor, Slovenia, 2003 
    3. R.C. Arkin, Behavior Based Robotics, MIT Pres, 1998 
    4. J. Borenstein, Y. Koren, 'Potential Field Methods and Their Inherent Limitations for Mobile Robot Navigation', Proceeding of the IEEE International Conference on Robotics and Automation, California, April 1991 
    5. L. C. A. Pimenta and A. R. Fonseca, 'Robot Navigation Based on Electrostatic Field Computation', IEEE Transaction on Magnetics, vol. 42, no. 4, april 2006 
    6. R. Daily and D. M. Bevly, 'Harmonic Potential Field Path Planning for High Speed Vehicles', American Control Conference 2008, Seattle, Washington, USA, 2008 
    7. J. Ren, K. A. McIsaac and R. V. Patel, 'Modified Newton's Method Applied to Potential Field-Based Navigation for Mobile Robots', IEEE Transaction on Robotics, vol. 22, no. 2, April, 2006 

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