Abstract
A novel obstacle avoidance and a final position and orientation acquiring methods are developed and implemented for fast moving mobile robots. Most of the obstacle avoidance techniques do not consider the robot orientation or its final angle at the target position. These techniques deal with the robot position only and are independent of its orientation and velocity. To solve these problems we propose a novel uni-vector field method, which introduces a normalized two-dimensional vector field for navigation. To obtain the optimal vector field, a function approximator is used, and is trained by evolutionary programming. Two kinds of vector fields are trained, one for the final posture acquisition, and the other for obstacle avoidance. Computer simulations and real experiments are carried out to demonstrate the effectiveness of the proposed scheme.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
E. Rimon, “Exact Robot Navigation Using Artificial Potential Functions,” IEEE Trans. on Robotics and Automation, Vol. 8,No. 5, pp. 501–518, Oct. 1992.
J.-H. Kim (ed.), Special Issue: First Micro-Robot World Cup Soccer Tournament, MiroSot, Robotics and Autonomous Systems, Elsevier, Vol. 21,No. 2, Sep. 1997.
G. Camoin, G. Bastin and B. D. Novel, “Structural Properties and Classification of Kinetic and Dynamic Models of Wheeled Mobile Robots,” IEEE Trans. Robotics and Automation, Vol. 12,No. 1, pp. 47–62, Feb. 1996.
J. Borenstein and Y. Koren, “Real-time Obstacle Avoidance for Fast Mobile Robots,” IEEE Trans. Syst. Man. Cybern., Vol. 20,No. 4, pp. 1179–1187, 1989.
J. Gulder and V. I. Utkin, “Stabilization of Non-holonomic Mobile Robots using Lyapunov functions for Navigation and Sliding Mode Control,” Proc. of the IEEE conf. on Decision and Control, pp. 2967–2972, Dec. 1994.
J.-H. Kim and H. Myung, “Evolutionary Programming Techniques for Constrained Optimization Problems,” IEEE Trans. on Evolutionary Computation, pp. 129–140, May 1997.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1999 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Kim, YJ., Kim, DH., Kim, JH. (1999). Evolutionary Programming-Based Uni-vector Field Method for Fast Mobile Robot Navigation. In: McKay, B., Yao, X., Newton, C.S., Kim, JH., Furuhashi, T. (eds) Simulated Evolution and Learning. SEAL 1998. Lecture Notes in Computer Science(), vol 1585. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-48873-1_21
Download citation
DOI: https://doi.org/10.1007/3-540-48873-1_21
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-65907-5
Online ISBN: 978-3-540-48873-6
eBook Packages: Springer Book Archive