A hybrid path planning method for mobile robot based on artificial potential field method

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 空间自动化技术研究室

	A hybrid path planning method for mobile robot based on artificial potential field method
	Kong, Haiyi 2; Yang, Chenguang 2; Liu JG(刘金国)1
	2019
会议日期	August 8-11, 2019
会议地点	Shenyang, China
关键词	Artificial potential field method Wall following method Escape direction Switching conditions Obstacles connecting method
页码	325-331
英文摘要	This paper proposes a hybrid path planning method based on artificial potential field method (APF) for mobile robot, which combines wall following method (WFM) and obstacles connecting method (OCM) for dealing with local minimum. The environment information is took into consideration to decide the escape direction of WFM. To ensure the success of escaping from local minimum, more reliable switching conditions are designed. OCM is applied to reduce the difficulty of path planning for complex workspace with concave obstacles. Simulation studies have been carried out to verify the validity of the proposed method. © Springer Nature Switzerland AG 2019.
产权排序	3
会议录	Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings
会议录出版者	Springer Verlag
会议录出版地	Berlin
语种	英语
ISSN号	0302-9743
ISBN号	978-3-030-27528-0
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/25508]
专题	沈阳自动化研究所_空间自动化技术研究室
通讯作者	Yang, Chenguang
作者单位	1.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China 2.College of Automation Science and Engineering, South China University of Technology, Guangzhou 510640, China 3.School of Computing, University of Portsmouth, Portsmouth PO1 3HE, United Kingdom
推荐引用方式 GB/T 7714	Kong, Haiyi,Yang, Chenguang,Liu JG. A hybrid path planning method for mobile robot based on artificial potential field method[C]. 见:. Shenyang, China. August 8-11, 2019.