Journal of Intelligent & Robotic Systems
Jinseok Lee, Yunyoung Nam,Sangjin Hong and WeDuke Cho
Volume 64

Autonomous mobile robot path planning is a common topic for robotics and compu tational geometry. Many important results have been found, but a lot of issues are still veiled. This paper first describes new problem of symmetri6cally aligned robot-obstacle-goal (SAROG) when using potential field methods for mobile robot path planning. In addition, we consider constant robot speed for practical use. The SAROG and the constant speed involve two potential risks: robot-obstacle collision and local minima trap. For dealing with the two potential risks, we ana lyze the conditions of the collision and the local minima trap, and propose new potential functions
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