Abstract
Autonomous mobile robot path planning is a common topic for robotics and computational geometry. Many important results have been found, but a lot of issues are still veiled. This paper first describes new problem of symmetrically aligned robot-obstacle-goal (SAROG) when using potential field methods for mobile robot path planning. In addition, we consider constant robot speed for practical use. The SAROG and the constant speed involve two potential risks: robot-obstacle collision and local minima trap. For dealing with the two potential risks, we analyze the conditions of the collision and the local minima trap, and propose new potential functions and random force based algorithms. For the algorithm verification, we use WiRobot X80 with three ultrasonic range sensor modules.
| Original language | English |
|---|---|
| Pages (from-to) | 303-319 |
| Number of pages | 17 |
| Journal | Journal of Intelligent and Robotic Systems: Theory and Applications |
| Volume | 66 |
| Issue number | 3 |
| DOIs | |
| Publication status | Published - May 2012 |
Bibliographical note
Funding Information:Acknowledgements This research is supported by the Ubiquitous Computing and Network (UCN) project, Knowledge and Economy Frontier R&D Program of the Ministry of Knowledge Economy (MKE) in Korea as a result of UCN’s subproject 11C3-T3-50S.
Keywords
- Navigation
- Obstacle avoidance
- Potential function
- SAROG
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