A Novel Approach for Path Planning Based on Reactive Behavior-Artificial Potential Filed

Long Xiang Yang; Zai Xin Liu; Hao Tang

doi:10.4028/www.scientific.net/AMM.529.646

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 529A Novel Approach for Path Planning Based on...

A Novel Approach for Path Planning Based on Reactive Behavior-Artificial Potential Filed

Abstract:

The main objective of this paper is to focus on the local minima and the GNRON issues encountered in path planning by the artificial potential field (APF) method, and propose a novel approach to plan a trajectory adaptive for the environment that the obstacles are randomly distributed. By introducing the ideas of reactive behaviors (RB), the RB-APF method is presented, which combines the efficiency of the APF with the simplicity of the RB, so it can be suitable for real-time application in mobile robots. In this algorithm (RB-APF), the switch conditions and optimal selection equations are reasonably designed with the consideration of the different circumstances of the robot located in. Simulations are presented and the results further demonstrate that the proposed approach is applicable for the environment that obstacles are randomly distributed.

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Periodical:

Applied Mechanics and Materials (Volume 529)

Pages:

646-649

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.529.646

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Online since:

June 2014

Authors:

Long Xiang Yang, Zai Xin Liu, Hao Tang

Keywords:

GNRON Problem, Path Planning, Randomly Distributed, Reactive Behavior-Artificial Potential Field (RB-APF)

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