{"title":"一种改进的人工势场法在未知环境下实时移动机器人路径规划中的应用","authors":"J. Sfeir, M. Saad, H. Saliah-Hassane","doi":"10.1109/ROSE.2011.6058518","DOIUrl":null,"url":null,"abstract":"This paper deals with the navigation of a mobile robot in an unknown environment. The approach developed is based on the Artificial Potential Field (APF) method in which the target creates a virtual potential that attracts the robot while obstacles create a virtual potential that repels the robot. A new form of repelling potential is proposed in order to reduce oscillations and to avoid conflicts when the target is close to obstacles. A rotational force is integrated as well, allowing for a smoother trajectory around the obstacles. Experiment results show the effectiveness of the proposed approach.","PeriodicalId":361472,"journal":{"name":"2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2011-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"103","resultStr":"{\"title\":\"An improved Artificial Potential Field approach to real-time mobile robot path planning in an unknown environment\",\"authors\":\"J. Sfeir, M. Saad, H. Saliah-Hassane\",\"doi\":\"10.1109/ROSE.2011.6058518\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper deals with the navigation of a mobile robot in an unknown environment. The approach developed is based on the Artificial Potential Field (APF) method in which the target creates a virtual potential that attracts the robot while obstacles create a virtual potential that repels the robot. A new form of repelling potential is proposed in order to reduce oscillations and to avoid conflicts when the target is close to obstacles. A rotational force is integrated as well, allowing for a smoother trajectory around the obstacles. Experiment results show the effectiveness of the proposed approach.\",\"PeriodicalId\":361472,\"journal\":{\"name\":\"2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE)\",\"volume\":\"31 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2011-10-24\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"103\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROSE.2011.6058518\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROSE.2011.6058518","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
An improved Artificial Potential Field approach to real-time mobile robot path planning in an unknown environment
This paper deals with the navigation of a mobile robot in an unknown environment. The approach developed is based on the Artificial Potential Field (APF) method in which the target creates a virtual potential that attracts the robot while obstacles create a virtual potential that repels the robot. A new form of repelling potential is proposed in order to reduce oscillations and to avoid conflicts when the target is close to obstacles. A rotational force is integrated as well, allowing for a smoother trajectory around the obstacles. Experiment results show the effectiveness of the proposed approach.
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