A hybrid path planning method for mobile robot based on artificial potential field method
文献类型：会议论文
| 作者 | Kong, Haiyi3; Yang, Chenguang3; Liu JG(刘金国)1
|
| 出版日期 | 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 |
| 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.School of Computing, University of Portsmouth, Portsmouth PO1 3HE, United Kingdom 3.College of Automation Science and Engineering, South China University of Technology, Guangzhou 510640, China |
| 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. |
入库方式： OAI收割
来源：沈阳自动化研究所
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