scholarly journals A 3D Anti-collision System based on Artificial Potential Field Method for a Mobile Robot

2017 ◽  
Author(s):  
Carlos Morais ◽  
Tiago Nascimento ◽  
Alisson Brito ◽  
Gabriel Basso
Keyword(s):  
Mobile Robot ◽  
Potential Field ◽  
Field Method ◽  
Artificial Potential Field ◽  
Collision System ◽  
Potential Field Method ◽  
Artificial Potential Field Method

scholarly journals An Improved Path Planning Method Based on Artificial Potential Field for a Mobile Robot

2015 ◽  
Vol 15 (2) ◽  
pp. 181-191 ◽  
Author(s):  
Wenbai Chen ◽  
Xibao Wu ◽  
Yang Lu
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Potential Field ◽  
Field Method ◽  
Artificial Potential Field ◽  
Improved Method ◽  
Chaos Optimization ◽  
Potential Field Method ◽  
Artificial Potential Field Method ◽  
Robot Path

Abstract To solve the problem of local minima and unreachable destination of the traditional artificial potential field method in mobile robot path planning, chaos optimization is introduced to improve the artificial potential field method. The potential field function was adopted as a target function of chaos optimization, and a kind of “two-stage” chaos optimization was used. The corresponding movement step and direction of the robot were achieved by chaos search. Comparison of the improved method proposed in this paper and the traditional artificial potential field method is performed by simulation. The simulation results show that the improved method gets rid of the drawbacks, such as local minima and unreachable goal. Furthermore, the improved method is also verified by building up a physical platform based on “Future Star” robot. The success of the physical experiment indicates that the improved algorithm is feasible and efficient for mobile robot path planning.

scholarly journals Path Planning of Mobile Robot Using Fuzzy-Potential Field Method

2015 ◽  
Vol 11 (1) ◽  
pp. 32-41
Author(s):  
Alaa Ahmed ◽  
Turki Abdalla ◽  
Ali Abed
Keyword(s):  
Fuzzy Logic ◽  
Mobile Robot ◽  
Potential Field ◽  
Fuzzy Logic Controller ◽  
Field Method ◽  
Artificial Potential Field ◽  
Local Minima ◽  
Potential Field Method ◽  
Artificial Potential Field Method

This paper deals with the navigation of a mobile robot in unknown environment using artificial potential field method. The aim of this paper is to develop a complete method that allows the mobile robot to reach its goal while avoiding unknown obstacles on its path. An approach proposed is introduced in this paper based on combing the artificial potential field method with fuzzy logic controller to solve drawbacks of artificial potential field method such as local minima problems, make an effective motion planner and improve the quality of the trajectory of mobile robot.

Path Planning of Mobile Robot Based on Improved Artificial Potential Field Method

2014 ◽  
Vol 644-650 ◽  
pp. 154-157 ◽  
Author(s):  
Su Ying Zhang ◽  
Yan Kai Shen ◽  
Wen Shuai Cui
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Potential Field ◽  
High Efficiency ◽  
Field Method ◽  
Artificial Potential Field ◽  
Local Minima ◽  
Potential Field Method ◽  
Smooth Path ◽  
Artificial Potential Field Method

The artificial potential field method has been extensively used in mobile robot path planning for its characteristics of simpleness, high efficiency, and smooth path. In this paper, to solve the problem of local minima in traditional artificial potential field method, A modified form of repulsion function is proposed. A detour force is added to the repulsion function, the problem of local minima can be solved effectively. In the end, with the help of Matlab software simulating, the result shows that this method is simple and effective.

A Mobile Robot Obstacle Avoidance Method Based on Improved Potential Field Method

2013 ◽  
Vol 467 ◽  
pp. 496-501 ◽  
Author(s):  
Hao Wang ◽  
Lian Yu Zhao ◽  
Wei Chen
Keyword(s):  
Mobile Robot ◽  
Obstacle Avoidance ◽  
Potential Field ◽  
Simulation Analysis ◽  
Field Method ◽  
Artificial Potential Field ◽  
Position Information ◽  
Unknown Environment ◽  
Potential Field Method ◽  
Artificial Potential Field Method

Proposing an obstacle avoidance method for mobile robot under unknown environment, which makes use of multiple ultrasonic sensors coordinating with each other and collects position information of obstacles followed by information fuzzy processing, applies artificial potential field method with improved potential function to project the travel path of the robot. It has solved the "deadlock" problem of the traditional artificial potential field method and achieved obstacle avoidance of mobile robot under unknown environment. By simulation analysis, robot obstacle avoidance can be implemented flexibly using this method.

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