New potential functions for mobile robot path planning

Authors
Ge, SS Cui, YJ
Citation
Ss. Ge et Yj. Cui, New potential functions for mobile robot path planning, IEEE ROBOT, 16(5), 2000, pp. 615-620
Citations number
17
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
ISSN journal
1042296X → ACNP
Volume
16
Issue
5
Year of publication
2000
Pages
615 - 620
Database
ISI
SICI code
1042-296X(200010)16:5<615:NPFFMR>2.0.ZU;2-T
Abstract
This paper first describes the problem of goals nonreachable with obstacles nearby when using potential field methods for mobile robot path planning. Then, new repulsive potential functions are presented by taking the relativ e distance between the robot and the goal into consideration, which ensurer s that the goal position is the global minimum of the total potential.