Virtual obstacle concept for local-minimum-recovery in potential-field based navigation

Virtual obstacle concept for local-minimum-recovery in potential-field based navigation

Presents a navigation algorithm, which integrates a virtual obstacle concept with a potential-field-based method to manoeuvre cylindrical mobile robots in unknown or unstructured environments. This study focuses on the real-time feature of the navigation algorithm for fast moving mobile robots. We m...

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Hauptverfasser: Liu Chengqing, Ang, M.H., Krishnan, H., Lim Ser Yong
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Control systems
Feedback
Mobile robots
Motion control
Motion planning
Navigation
Orbital robotics
Production engineering
Robot control
Robot motion
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creator Liu Chengqing
Ang, M.H.
Krishnan, H.
Lim Ser Yong
description Presents a navigation algorithm, which integrates a virtual obstacle concept with a potential-field-based method to manoeuvre cylindrical mobile robots in unknown or unstructured environments. This study focuses on the real-time feature of the navigation algorithm for fast moving mobile robots. We mainly consider the potential-field method in conjunction with virtual obstacle concept as the basis of our navigation algorithm. Simulation and experiments of our algorithm shows good performance and ability to overcome the local minimum problem associated with potential field methods.
doi_str_mv 10.1109/ROBOT.2000.844728
format Conference Proceeding
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source IEEE Electronic Library (IEL) Conference Proceedings
subjects Control systems
Feedback
Mobile robots
Motion control
Motion planning
Navigation
Orbital robotics
Production engineering
Robot control
Robot motion
title Virtual obstacle concept for local-minimum-recovery in potential-field based navigation
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