1D virtual force field algorithm for reflexive local path planning of mobile robots
A one-dimensional (1D) virtual force field (VFF) algorithm for real-time reflexive local path planning of mobile robots is proposed. The 1D-VFF is composed of the virtual steering, obstacle and integrated force fields (IFFs). The steering force field (SFF) is generated by the local or global goal po...
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| Veröffentlicht in: | Electronics letters 2014-09, Vol.50 (20), p.1429-1430 |
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| creator | Choe, Tok-Son Park, Jin-Bae Joo, Sang-Hyun Park, Yong-Woon |
| description | A one-dimensional (1D) virtual force field (VFF) algorithm for real-time reflexive local path planning of mobile robots is proposed. The 1D-VFF is composed of the virtual steering, obstacle and integrated force fields (IFFs). The steering force field (SFF) is generated by the local or global goal position. This SFF leads a mobile robot to the goal. The obstacle force field (OFF) is created by the raw data of a range measurement sensor (RMS). By this OFF, a mobile robot avoids obstacles. The IFF is produced by combining the steering and OFFs in which weights between 0 and 1 are multiplied. Through this IFF, a final steering command by which a mobile robot reaches a goal by avoiding obstacles is generated. Various simulations compare the performance of the proposed 1D-VFF with the weighted virtual tangential vector (WVTV), which is the recently suggested local path planning method to overcome the U-shaped enclosure problem. |
| doi_str_mv | 10.1049/el.2014.2787 |
| format | Article |
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The 1D-VFF is composed of the virtual steering, obstacle and integrated force fields (IFFs). The steering force field (SFF) is generated by the local or global goal position. This SFF leads a mobile robot to the goal. The obstacle force field (OFF) is created by the raw data of a range measurement sensor (RMS). By this OFF, a mobile robot avoids obstacles. The IFF is produced by combining the steering and OFFs in which weights between 0 and 1 are multiplied. Through this IFF, a final steering command by which a mobile robot reaches a goal by avoiding obstacles is generated. Various simulations compare the performance of the proposed 1D-VFF with the weighted virtual tangential vector (WVTV), which is the recently suggested local path planning method to overcome the U-shaped enclosure problem.</description><identifier>ISSN: 0013-5194</identifier><identifier>ISSN: 1350-911X</identifier><identifier>EISSN: 1350-911X</identifier><identifier>DOI: 10.1049/el.2014.2787</identifier><language>eng</language><publisher>The Institution of Engineering and Technology</publisher><subject>1D‐VFF ; 1D‐virtual force field algorithm ; collision avoidance ; Control engineering ; integrated force fields ; mobile robots ; obstacle force field ; OFF ; range measurement sensor ; reflexive local path planning ; steering force field ; steering systems ; virtual steering ; weighted virtual tangential vector</subject><ispartof>Electronics letters, 2014-09, Vol.50 (20), p.1429-1430</ispartof><rights>The Institution of Engineering and Technology</rights><rights>2020 The Institution of Engineering and Technology</rights><lds50>peer_reviewed</lds50><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c4514-4da7dd47ec9cce27893b979f0a812138210ac0d50ecec8b8c001a60a11deb0c3</citedby><cites>FETCH-LOGICAL-c4514-4da7dd47ec9cce27893b979f0a812138210ac0d50ecec8b8c001a60a11deb0c3</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://onlinelibrary.wiley.com/doi/pdf/10.1049%2Fel.2014.2787$$EPDF$$P50$$Gwiley$$H</linktopdf><linktohtml>$$Uhttps://onlinelibrary.wiley.com/doi/full/10.1049%2Fel.2014.2787$$EHTML$$P50$$Gwiley$$H</linktohtml><link.rule.ids>314,776,780,1411,11541,27901,27902,45550,45551,46027,46451</link.rule.ids><linktorsrc>$$Uhttps://onlinelibrary.wiley.com/doi/abs/10.1049%2Fel.2014.2787$$EView_record_in_Wiley-Blackwell$$FView_record_in_$$GWiley-Blackwell</linktorsrc></links><search><creatorcontrib>Choe, Tok-Son</creatorcontrib><creatorcontrib>Park, Jin-Bae</creatorcontrib><creatorcontrib>Joo, Sang-Hyun</creatorcontrib><creatorcontrib>Park, Yong-Woon</creatorcontrib><title>1D virtual force field algorithm for reflexive local path planning of mobile robots</title><title>Electronics letters</title><description>A one-dimensional (1D) virtual force field (VFF) algorithm for real-time reflexive local path planning of mobile robots is proposed. The 1D-VFF is composed of the virtual steering, obstacle and integrated force fields (IFFs). The steering force field (SFF) is generated by the local or global goal position. This SFF leads a mobile robot to the goal. The obstacle force field (OFF) is created by the raw data of a range measurement sensor (RMS). By this OFF, a mobile robot avoids obstacles. The IFF is produced by combining the steering and OFFs in which weights between 0 and 1 are multiplied. Through this IFF, a final steering command by which a mobile robot reaches a goal by avoiding obstacles is generated. Various simulations compare the performance of the proposed 1D-VFF with the weighted virtual tangential vector (WVTV), which is the recently suggested local path planning method to overcome the U-shaped enclosure problem.</description><subject>1D‐VFF</subject><subject>1D‐virtual force field algorithm</subject><subject>collision avoidance</subject><subject>Control engineering</subject><subject>integrated force fields</subject><subject>mobile robots</subject><subject>obstacle force field</subject><subject>OFF</subject><subject>range measurement sensor</subject><subject>reflexive local path planning</subject><subject>steering force field</subject><subject>steering systems</subject><subject>virtual steering</subject><subject>weighted virtual tangential vector</subject><issn>0013-5194</issn><issn>1350-911X</issn><issn>1350-911X</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2014</creationdate><recordtype>article</recordtype><recordid>eNp90LFOwzAQBmALgURVuvEAHhgYSLlLnCYZobSAFImBDmyW49itkRtHTlro2-OoDAwVkyXru9N_PyHXCFMEVtwrO40B2TTO8uyMjDBJISoQP87JCACTKMWCXZJJ15kqMGQzYDgi7_hE98b3O2Gpdl4qqo2yNRV27bzpN9vhl3qlrfo2e0Wtk0G2ot_Q1oqmMc2aOk23rjJWUe8q13dX5EIL26nJ7zsmq-ViNX-Jyrfn1_lDGUmWIotYLbK6ZpmShZQqxC6SqsgKDSLHGJM8RhAS6hSUVDKvchnOEDMQiLWqQCZjcndcK73ruhCRt95shT9wBD5UwpXlQyV8qCTw9Mi_QtLDv5YvyjJ-XALmMQtzN8c5o3r-6Xa-CTcF8Ye3tQ7s9gQ7meQHU2J9Xw</recordid><startdate>20140925</startdate><enddate>20140925</enddate><creator>Choe, Tok-Son</creator><creator>Park, Jin-Bae</creator><creator>Joo, Sang-Hyun</creator><creator>Park, Yong-Woon</creator><general>The Institution of Engineering and Technology</general><scope>AAYXX</scope><scope>CITATION</scope></search><sort><creationdate>20140925</creationdate><title>1D virtual force field algorithm for reflexive local path planning of mobile robots</title><author>Choe, Tok-Son ; Park, Jin-Bae ; Joo, Sang-Hyun ; Park, Yong-Woon</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c4514-4da7dd47ec9cce27893b979f0a812138210ac0d50ecec8b8c001a60a11deb0c3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2014</creationdate><topic>1D‐VFF</topic><topic>1D‐virtual force field algorithm</topic><topic>collision avoidance</topic><topic>Control engineering</topic><topic>integrated force fields</topic><topic>mobile robots</topic><topic>obstacle force field</topic><topic>OFF</topic><topic>range measurement sensor</topic><topic>reflexive local path planning</topic><topic>steering force field</topic><topic>steering systems</topic><topic>virtual steering</topic><topic>weighted virtual tangential vector</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Choe, Tok-Son</creatorcontrib><creatorcontrib>Park, Jin-Bae</creatorcontrib><creatorcontrib>Joo, Sang-Hyun</creatorcontrib><creatorcontrib>Park, Yong-Woon</creatorcontrib><collection>CrossRef</collection><jtitle>Electronics letters</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Choe, Tok-Son</au><au>Park, Jin-Bae</au><au>Joo, Sang-Hyun</au><au>Park, Yong-Woon</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>1D virtual force field algorithm for reflexive local path planning of mobile robots</atitle><jtitle>Electronics letters</jtitle><date>2014-09-25</date><risdate>2014</risdate><volume>50</volume><issue>20</issue><spage>1429</spage><epage>1430</epage><pages>1429-1430</pages><issn>0013-5194</issn><issn>1350-911X</issn><eissn>1350-911X</eissn><abstract>A one-dimensional (1D) virtual force field (VFF) algorithm for real-time reflexive local path planning of mobile robots is proposed. The 1D-VFF is composed of the virtual steering, obstacle and integrated force fields (IFFs). The steering force field (SFF) is generated by the local or global goal position. This SFF leads a mobile robot to the goal. The obstacle force field (OFF) is created by the raw data of a range measurement sensor (RMS). By this OFF, a mobile robot avoids obstacles. The IFF is produced by combining the steering and OFFs in which weights between 0 and 1 are multiplied. Through this IFF, a final steering command by which a mobile robot reaches a goal by avoiding obstacles is generated. Various simulations compare the performance of the proposed 1D-VFF with the weighted virtual tangential vector (WVTV), which is the recently suggested local path planning method to overcome the U-shaped enclosure problem.</abstract><pub>The Institution of Engineering and Technology</pub><doi>10.1049/el.2014.2787</doi><tpages>2</tpages><oa>free_for_read</oa></addata></record> |
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| language | eng |
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| source | Wiley Online Library Open Access |
| subjects | 1D‐VFF 1D‐virtual force field algorithm collision avoidance Control engineering integrated force fields mobile robots obstacle force field OFF range measurement sensor reflexive local path planning steering force field steering systems virtual steering weighted virtual tangential vector |
| title | 1D virtual force field algorithm for reflexive local path planning of mobile robots |
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