- Tytuł:
- An artificial potential field based mobile robot navigation method to prevent from deadlock
- Autorzy:
-
Weerakoon, T.
Ishii, K.
Nassiraei, A. A. F. - Powiązania:
- https://bibliotekanauki.pl/articles/91854.pdf
- Data publikacji:
- 2015
- Wydawca:
- Społeczna Akademia Nauk w Łodzi. Polskie Towarzystwo Sieci Neuronowych
- Tematy:
-
Artificial Potential Filed
APF
mobile robot
Proposed-APF
P-APF
Traditional APF algorithm
T-APF
robot mobilny - Opis:
- Artificial Potential Filed (APF) is the most well-known method that is used in mobile robot path planning, however, the shortcoming is that the local minima. To overcome this issue, we present a deadlock free APF based path planning algorithm for mobile robot navigation. The Proposed-APF (P-APF) algorithm searches the goal point in unknown 2D environments. This method is capable of escaping from deadlock and non-reachability problems of mobile robot navigation. In this method, the effective front-face obstacle information associated with the velocity direction is used to modify the Traditional APF (T-APF) algorithm. This modification solves the deadlock problem that the T-APF algorithm often converges to local minima. The proposed algorithm is explained in details and to show the effectiveness of the proposed approach, the simulation experiments were carried out in the MATLAB environment. Furthermore, the numerical analysis of the proposed approach is given to prove a deadlock free motion of the mobile robot.
- Źródło:
-
Journal of Artificial Intelligence and Soft Computing Research; 2015, 5, 3; 189-203
2083-2567
2449-6499 - Pojawia się w:
- Journal of Artificial Intelligence and Soft Computing Research
- Dostawca treści:
- Biblioteka Nauki
Artykuł