Artificial coordinating field and its application to motion planning of robots in uncertain dynamic environments
文献类型：期刊论文
| 作者 | Jing XJ(景兴建); Wang YC(王越超) ; Tan DL(谈大龙)
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| 刊名 | Science in China Series E: Technological Sciences
 |
| 出版日期 | 2004 |
| 期号 | 5页码:577-594 |
| 关键词 | artificial coordinating fields artificial potential fields mobile robots motion planning uncertain dynamic environments |
| ISSN号 | 1674-7321 |
| 产权排序 | 1 |
| 中文摘要 | Artificial coordinating fields (ACF) are proposed to deal with the motion planning problems of mobile robots in uncertain dynamic environments. An ACF around an obstacle can generate two orthogonal force vectors to a robot: one is called the coordinating force vector which is purposively designed in this paper, and the other is the repulsive force vector which is the same as that in a conventional artificial potential field.The ACF is designed according to the updated motion purpose and the relative states of the robot with respect to its local environment, and it also satisfies the robot's dynamic constraints. The direction of the coordinating force can be determined on line according to an optimal evaluation function. The ACF can effectively remove the local minima, and reduce the oscillation of the planned trajectory between multiple obstacles. Only local knowledge of the environments is needed in the ACF-based motion planning. The properties of the ACF such as controllability, adaptability, safety and reachability are studied and discussed in detail in this paper. Theoretical analysis and simulations are given to illustrate our main results. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Engineering, Multidisciplinary ; Materials Science, Multidisciplinary |
| 研究领域[WOS] | Engineering ; Materials Science |
| 关键词[WOS] | POTENTIAL FIELDS ; MOBILE ROBOTS ; NAVIGATION |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000225243500006 |
| 公开日期 | 2012-05-29 |
| 源URL | [http://ir.sia.cn/handle/173321/7315]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Jing XJ,Wang YC,Tan DL. Artificial coordinating field and its application to motion planning of robots in uncertain dynamic environments[J]. Science in China Series E: Technological Sciences,2004(5):577-594. |
| APA | Jing XJ,Wang YC,&Tan DL.(2004).Artificial coordinating field and its application to motion planning of robots in uncertain dynamic environments.Science in China Series E: Technological Sciences(5),577-594. |
| MLA | Jing XJ,et al."Artificial coordinating field and its application to motion planning of robots in uncertain dynamic environments".Science in China Series E: Technological Sciences .5(2004):577-594. |
入库方式： OAI收割
来源：沈阳自动化研究所
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