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- Title
1D virtual force field algorithm for reflexive local path planning of mobile robots.
- Authors
Tok-Son Choe; Jin-Bae Park; Sang-Hyun Joo; Yong-Woon Park
- 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.
- Subjects
MOLECULAR force constants; ALGORITHMS; REAL-time control; MOBILE robots; COMPUTER simulation
- Publication
Electronics Letters (Wiley-Blackwell), 2014, Vol 50, Issue 20, p1429
- ISSN
0013-5194
- Publication type
Article
- DOI
10.1049/el.2014.2787