TITLE

Mobile Robot Navigation Using a Combined Optimized Potential Field and a Boundary Following Algorithm

AUTHOR(S)
Charifa, Samer; Bikdash, Marwan
PUB. DATE
October 2011
SOURCE
Journal of Control Engineering & Technology;Oct2011, Vol. 1 Issue 2, p100
SOURCE TYPE
Academic Journal
DOC. TYPE
Article
ABSTRACT
We propose a novel method to the navigation of mobile robots that combines a modified potential field method with a boundary-following algorithm. The resulting method avoids many of the pitfalls of each component method, such as entrapment in local minima, oscillation in narrow corridors, hugging obstacle boundaries inefficiently, and low-quality velocity and acceleration profiles. The proposed harmonic field has non-uniform boundary conditions based on the length of the shortest path to the target computed using a graph-theoretic shortest-path solver. The boundary-following algorithm ensures the best achievable safety distance to all boundaries. The proposed method is extended to apply to rigid-body mobile robots such as line-segment robot navigating in a cluttered environment, using the concept of distributed boundary charges moving in an electrostatic potential field. The proposed method performed well, leading for instance to superior velocity and acceleration profiles.
ACCESSION #
83174491

 

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