The apposite way path planning algorithm based on local message
According to the problems of autonomous robotic navigation in complex environments, an opposite way path planning algorithm and a novel robot controller based on inertial property is proposed. Firstly, the opposite way path planning algorithm getting the local obstacle message through robot, accordi...
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| creator | Jie Zhao Zi-wei Zhou Ge Li Chang-le Li He Zhang Wang-bao Xu |
| description | According to the problems of autonomous robotic navigation in complex environments, an opposite way path planning algorithm and a novel robot controller based on inertial property is proposed. Firstly, the opposite way path planning algorithm getting the local obstacle message through robot, according to the known obstacles a optimal path calculated which can carries the robot to get to the ultimate target. Secondly, a robot controller based on attractive force function and repulsive force function is designed. The controller can keep the robot away from the obstacle, and escape from the local minima when the robot is blocked by obstacle. The simulation results show that this method has a better optimization result than other common methods such as bug and artificial potential field. |
| doi_str_mv | 10.1109/ICMA.2012.6284369 |
| format | Conference Proceeding |
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Firstly, the opposite way path planning algorithm getting the local obstacle message through robot, according to the known obstacles a optimal path calculated which can carries the robot to get to the ultimate target. Secondly, a robot controller based on attractive force function and repulsive force function is designed. The controller can keep the robot away from the obstacle, and escape from the local minima when the robot is blocked by obstacle. 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The simulation results show that this method has a better optimization result than other common methods such as bug and artificial potential field.</description><subject>Algorithm design and analysis</subject><subject>artificial potential field</subject><subject>autonomous navigation</subject><subject>Force</subject><subject>motion controller</subject><subject>Navigation</subject><subject>Path planning</subject><subject>Robot kinematics</subject><subject>Robot sensing systems</subject><issn>2152-7431</issn><issn>2152-744X</issn><isbn>9781467312752</isbn><isbn>1467312754</isbn><isbn>9781467312776</isbn><isbn>1467312789</isbn><isbn>1467312770</isbn><isbn>9781467312783</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2012</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNpVkMtKw0AYhccbWGoeQNzMCyTONTOzkhKsFipusnBX_on_JJHcyASkb2_BIng258B3OItDyD1nGefMPe6Kt00mGBdZLqySubsgiTOWq9xILozJL8lKcC1So9TH1T-mxfUfk_yWJDF-sZNODe70ijyVDVKYpjG2C9JvONIJloZOHQxDO9QUunqc26XpqYeIn3QcaDdW0NEeY4Qa78hNgC5icvY1KbfPZfGa7t9fdsVmn7aOLWkwxoITXitQgfsKpeEaDaA2aL0WBqRiwjtwGLyQFm1udRA66FOoZCXX5OF3tkXEwzS3PczHw_kN-QMmlk47</recordid><startdate>201208</startdate><enddate>201208</enddate><creator>Jie Zhao</creator><creator>Zi-wei Zhou</creator><creator>Ge Li</creator><creator>Chang-le Li</creator><creator>He Zhang</creator><creator>Wang-bao Xu</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>201208</creationdate><title>The apposite way path planning algorithm based on local message</title><author>Jie Zhao ; Zi-wei Zhou ; Ge Li ; Chang-le Li ; He Zhang ; Wang-bao Xu</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i90t-f778a92b54a4f1bce3715e7ae57e8b527a3402b9a9efb238e8685f25f5868c3c3</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2012</creationdate><topic>Algorithm design and analysis</topic><topic>artificial potential field</topic><topic>autonomous navigation</topic><topic>Force</topic><topic>motion controller</topic><topic>Navigation</topic><topic>Path planning</topic><topic>Robot kinematics</topic><topic>Robot sensing systems</topic><toplevel>online_resources</toplevel><creatorcontrib>Jie Zhao</creatorcontrib><creatorcontrib>Zi-wei Zhou</creatorcontrib><creatorcontrib>Ge Li</creatorcontrib><creatorcontrib>Chang-le Li</creatorcontrib><creatorcontrib>He Zhang</creatorcontrib><creatorcontrib>Wang-bao Xu</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Jie Zhao</au><au>Zi-wei Zhou</au><au>Ge Li</au><au>Chang-le Li</au><au>He Zhang</au><au>Wang-bao Xu</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>The apposite way path planning algorithm based on local message</atitle><btitle>2012 IEEE International Conference on Mechatronics and Automation</btitle><stitle>ICMA</stitle><date>2012-08</date><risdate>2012</risdate><spage>1563</spage><epage>1568</epage><pages>1563-1568</pages><issn>2152-7431</issn><eissn>2152-744X</eissn><isbn>9781467312752</isbn><isbn>1467312754</isbn><eisbn>9781467312776</eisbn><eisbn>1467312789</eisbn><eisbn>1467312770</eisbn><eisbn>9781467312783</eisbn><abstract>According to the problems of autonomous robotic navigation in complex environments, an opposite way path planning algorithm and a novel robot controller based on inertial property is proposed. Firstly, the opposite way path planning algorithm getting the local obstacle message through robot, according to the known obstacles a optimal path calculated which can carries the robot to get to the ultimate target. Secondly, a robot controller based on attractive force function and repulsive force function is designed. The controller can keep the robot away from the obstacle, and escape from the local minima when the robot is blocked by obstacle. The simulation results show that this method has a better optimization result than other common methods such as bug and artificial potential field.</abstract><pub>IEEE</pub><doi>10.1109/ICMA.2012.6284369</doi><tpages>6</tpages></addata></record> |
| fulltext | fulltext_linktorsrc |
| identifier | ISSN: 2152-7431 |
| ispartof | 2012 IEEE International Conference on Mechatronics and Automation, 2012, p.1563-1568 |
| issn | 2152-7431 2152-744X |
| language | eng |
| recordid | cdi_ieee_primary_6284369 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Algorithm design and analysis artificial potential field autonomous navigation Force motion controller Navigation Path planning Robot kinematics Robot sensing systems |
| title | The apposite way path planning algorithm based on local message |
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