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

Charifa, Samer; Bikdash, Marwan
October 2011
Journal of Control Engineering & Technology;Oct2011, Vol. 1 Issue 2, p100
Academic Journal
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.


Related Articles

  • Vector Marks versus Potential Field. Bartkevičius, S.; Baranauskas, V.; Šarkauskas, K. // Electronics & Electrical Engineering;2008, Issue 81, p49 

    In navigation of robots in indoor environment potential field, electrostatic or based on artificial potential functions, are often used. There are known, except of advantages, some weeknesses of this usage - found paths are not optimal, large amount of data is required, possible deadlocks etc....

  • Application of electric fields uniform in the Euler sense in electron spectrography. Golikov, Yu.; Krasnova, N. // Technical Physics;Feb2011, Vol. 56 Issue 2, p164 

    new approach is developed for determining optimal electron-optics media in which the idea of the electron (ion) spectrograph can effectively be implemented. This approach is based on electrostatic fields with the Laplace potential obeying the Euler uniformity condition. The operation principle...

  • POSTURE CONTROL OF A HUMANOID ROBOT WITH A COMPLIANT ANKLE JOINT. KIM, MIN-SU; OH, JUN HO // International Journal of Humanoid Robotics;Mar2010, Vol. 7 Issue 1, p5 

    This paper contains an adjustment of the stiffness and control algorithm of an ankle joint to maintain the posture of a humanoid biped walking robot using an IMU (Inertial measurement Unit) in single support phase. One of the difficulties in maintaining the balance of a robot in single support...

  • Spin-Spin and Spin-Other-Orbit Interactions of Spin-Hamiltonian Parameters for 3d2(8) Ions in Al2O3 Crystals. WEI, Q.; GUO, L.-X.; YANG, Z.-Y.; WEI, B. // Acta Physica Polonica, A.;Jun2011, Vol. 119 Issue 6, p857 

    By considering weaker magnetic interactions (including spin-spin and spin-other-orbit interactions) in Hamiltonian, the spin-Hamiltonian parameters, including the zero-field splitting parameter D and g factors (g∥, g⊥) for 3d2(8) ions in Al2O3 crystals have been investigated. The...

  • Algorithm allows robots + humans to work together.  // Motion System Design Exclusive Insight;6/13/2012, p2 

    The article reports on the algorithm developed by the Interactive Robotics Group in Massachusetts Institute of Technology's (MIT) Computer Science and Artificial Intelligence Laboratory (CSAIL) that enables a robot to quickly learn a certain task.

  • Robot walks with damaged limb.  // Engineer (Online Edition);8/1/2013, p2 

    The article reports on the development by roboticists from the Institute of Intelligent Systems at Pierre and Marie Curie University in Paris, France of a hexagon robot with the ability to adapt when it loses a limb or use of a motor with the use of gait adjustment through T-resilience algorithm.

  • Foreword and Editorial. Stoica, Adrian // International Journal of Control & Automation;Jun2013, Vol. 6 Issue 3, pv 

    Several articles published within the issue are presented including intelligent robust fuzzy-parallel optimization control, torque analysis and motion realization of reconfigurable modular robot and an efficient area maximizing coverage algorithm.

  • Robots that think on their feet closer to reality. Charberlain, Gary // Design News;4/5/99, Vol. 55 Issue 7, p23 

    Reports that an engineer at Washington University in Saint Louis, Missouri, and two former graduate students have come up a theory and devised an algorithm that could make factory robots more deft and nimble. Demonstration of the theory; Model that enable the robot to stop and think; Features...

  • DTC-SVM Scheme for Induction Motors Fed with a Three-level Inverter. Hassankhan, Ehsan; Khaburi, Davood A. // Proceedings of World Academy of Science: Engineering & Technolog;Oct2008, Vol. 46, p168 

    Direct Torque Control is a control technique in AC drive systems to obtain high performance torque control. The conventional DTC drive contains a pair of hysteresis comparators. DTC drives utilizing hysteresis comparators suffer from high torque ripple and variable switching frequency. The most...


Read the Article


Sorry, but this item is not currently available from your library.

Try another library?
Sign out of this library

Other Topics