Mobile Robot Navigation Using a Combined Optimized Potential Field and a Boundary Following Algorithm

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Provided by: American V-King Scientific Publishing
Topic: Mobility
Format: PDF
The authors propose a novel method to the navigation of mobile robots that combines a modified potential field method with a boundary-following algorithm. The resulting method avoids many of the pitfalls of each component method, such as entrapment in local minima, oscillation in narrow corridors, hugging obstacle boundaries inefficiently, and low-quality velocity and acceleration profiles. The proposed harmonic field has non-uniform boundary conditions based on the length of the shortest path to the target computed using a graph-theoretic shortest-path solver.
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