Abstract
This paper presents a new approach for robots’ path planning in unknown environments, which is mainly based on the Artificial Potential Field (APF) method and some Artificial Intelligence (AI) theories. The main original point of the new algorithm lies in that it puts two intelligent ideas inertial mind and resistive mind, into robots’ minds. Therefore during the robots’ real-time path planning in unknown environments, in addition to the repulsive force by obstacles and the attractive force by goal, there are two more forces which can influence the behavior of robots. In the new algorithm presented in this paper, robots are directed by the composite force in the environments and the local minima problems are solved efficiently. Several simulations are presented to demonstrate the effectiveness of the new approach.
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References
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© 2004 Springer-Verlag Berlin Heidelberg
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Li, Z., Chen, X., Xiao, W. (2004). A New Motion Planning Approach Based on Artificial Potential Field in Unknown Environment. In: Liew, KM., Shen, H., See, S., Cai, W., Fan, P., Horiguchi, S. (eds) Parallel and Distributed Computing: Applications and Technologies. PDCAT 2004. Lecture Notes in Computer Science, vol 3320. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-30501-9_79
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DOI: https://doi.org/10.1007/978-3-540-30501-9_79
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-24013-6
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