A hybrid path planning method for mobile robot based on artificial potential field method
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
This paper proposes a hybrid path planning method based on artificial potential field method (APF) for mobile robot, which combines wall following method (WFM) and obstacles connecting method (OCM) for dealing with local minimum. The environment information is took into consideration to decide the escape direction of WFM. To ensure the success of escaping from local minimum, more reliable switching conditions are designed. OCM is applied to reduce the difficulty of path planning for complex workspace with concave obstacles. Simulation studies have been carried out to verify the validity of the proposed method.
| Original language | English |
|---|---|
| Title of host publication | Intelligent Robotics and Applications |
| Subtitle of host publication | 12th International Conference, ICIRA 2019, Shenyang, China, August 8–11, 2019, Proceedings, Part VI |
| Editors | Haibin Yu, Jinguo Liu, Lianqing Liu, Zhaojie Ju, Yuwang Liu, Dalin Zhou |
| Publisher | Springer |
| Chapter | 28 |
| Pages | 325-331 |
| Number of pages | 7 |
| ISBN (Electronic) | 978-3-030-27529-7 |
| ISBN (Print) | 978-3-030-27528-0 |
| DOIs | |
| Publication status | Published - 6 Aug 2019 |
| Event | 12th International Conference on Intelligent Robotics and Applications - Shenyang, China Duration: 8 Aug 2019 → 11 Aug 2019 |
Publication series
| Name | Lecture Notes in Computer Science |
|---|---|
| Publisher | Springer |
| Volume | 11745 |
| ISSN (Print) | 0302-9743 |
| ISSN (Electronic) | 1611-3349 |
| Name | Lecture Notes in Artificial Intelligence |
|---|---|
| Publisher | Springer |
| Volume | 11745 |
| ISSN (Print) | 0302-9743 |
| ISSN (Electronic) | 1611-3349 |
Conference
| Conference | 12th International Conference on Intelligent Robotics and Applications |
|---|---|
| Abbreviated title | ICIRA 2019 |
| Country | China |
| City | Shenyang |
| Period | 8/08/19 → 11/08/19 |
Documents
- Kong_A Hybrid Path Planning_ICIRA2019_042_final_v3
Rights statement: This is a post-peer-review, pre-copyedit version of an article published in Intelligent Robotics and Applications. ICIRA 2019. The final authenticated version is available online at: http://dx.doi.org/10.1007/978-3-030-27529-7_28.
Accepted author manuscript (Post-print), 395 KB, PDF document
Related information
ID: 15488424
