Affiliation:
1. Univ. Bordeaux, IMS - UMR 5218 CNRS, Bordeaux INP, ENSEIRB-MATMECA , 351 Cours de la Libération, 33405 , Talence Cedex , France
Abstract
Abstract
Obstacle avoidance is one of the main interests regarding path planning. In many situations (mostly those regarding applications in urban environments), the obstacles to be avoided are dynamical and unpredictable. This lack of certainty regarding the environment introduces the need to use local path planning techniques rather than global ones. A well-known method uses artificial potential fields introduced by Khatib. The Weyl potential definition have enabled to distinguish the dangerousness of an obstacle, however acceleration oscillations appear when the considered robot enters a danger zone close to an obstacle, thus leading to high energy consumption. In order to reduce these oscillations regarding this method, four alternative formulations for the repulsive field are proposed: corrective polynomials, tangential and radial components, Poisson potential and pseudo fractional potential. Their limitations will be explored and their performances will be compared by using criteria such as length and energy in a simulation scenario.
Subject
Applied Mathematics,Analysis
Reference15 articles.
1. M. Ashourian, Navigation of a mobile robot using a virtual potential field and artificial neural network. J. of Artificial Intelligence in Electrical Engineering 5, No 17 (2016), 11–20; magiran.com/p1612611.
2. S. Garrido, L. Moreno, D. Blanco, and F. Martín Monar, Robotic motion using harmonic functions and finite elements. J. of Intelligent and Robotic Systems 59, No 1 (2010), 57–73; 10.1007/s10846-009-9381-3.
3. S. Ge and Y. Cui, Dynamic motion planning for mobile robots using potential field method. Autonomous Robots 13, No 3 (2002), 207–222; 10.1023/A:1020564024509.
4. O. Khatib, The Potential Field Approach and Operational Space Formulation in Robot Control. Springer, New York (1986).
5. P. Melchior, B. Orsoni, and A. Oustaloup, Weyl fractional potential in path planning. In: 6th European Control Conference ECC’01, Porto (2001), 1758–1763; 10.23919/ECC.2001.7076175.
Cited by
24 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献