Abstract
The artificial potential field (APF) based path planning methods have a local minimum problem, which can trap mobile robot before reaching its goal. In this study, a new method using virtual water-flow is proposed to escape local minima occurred in local path planning, which integrates virtual water-flow with a potential-field-based method to guide a mobile robot in an unknown or unstructured environment. The potential-field method coupled with virtual water-flow can navigate a mobile robot in real time. Simulations and experiments show this algorithm possesses good performance, and can overcome the problem cause by local minimum.
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© 2007 Springer-Verlag Berlin Heidelberg
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Xie, L., Chen, H., Xie, G. (2007). Artificial Potential Field Based Path Planning for Mobile Robots Using Virtual Water-Flow Method. In: Huang, DS., Heutte, L., Loog, M. (eds) Advanced Intelligent Computing Theories and Applications. With Aspects of Contemporary Intelligent Computing Techniques. ICIC 2007. Communications in Computer and Information Science, vol 2. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-74282-1_66
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DOI: https://doi.org/10.1007/978-3-540-74282-1_66
Publisher Name: Springer, Berlin, Heidelberg
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