An efficient path planning algorithm for mobile robot using improved potential field
文献类型：会议论文
| 作者 | Shi P(石璞); Zhao YW(赵忆文)
|
| 出版日期 | 2009 |
| 会议名称 | 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 |
| 会议日期 | December 19-23, 2009 |
| 会议地点 | Guilin, China |
| 关键词 | Active filters Biomimetics Mobile robots Robotics Targets |
| 页码 | 1704-1708 |
| 中文摘要 | Traditional APF-based mobile robot path planning approaches posses an inherent problem which is the formation of local minimum that probably prevent robot from arriving at the target. In view of those considerations, an improved potential field function is proposed to settle this problem. The new method includes an improved attractive potential function and an improved repulsive potential function. The attractive potential function takes into account the minimum separation between robot and obstacles, while the repulsive potential function takes into account the relative position between robot and the target. As a result, the target is ensured as the global minimum in working space. Simulation experiments are performed and the results demonstrate the effectiveness of the improved method. © 2009 IEEE. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 2 |
| 会议主办者 | IEEE Robotics and Automation Society; National University of Defense Technology; The Chinese University of Hong Kong; City University of Hong Kong |
| 会议录 | 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
 |
| 会议录出版者 | IEEE Computer Society |
| 会议录出版地 | Piscataway, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-4775-6 |
| WOS记录号 | WOS:000285530501080 |
| 源URL | [http://ir.sia.cn/handle/173321/10460]  |
| 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 | Shi P,Zhao YW. An efficient path planning algorithm for mobile robot using improved potential field[C]. 见:2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009. Guilin, China. December 19-23, 2009. |
入库方式： OAI收割
来源：沈阳自动化研究所
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