An improved artificial potential field method with a new point of attractive force for a mobile robot

Donghyun Lee, Jongmin Jeong, Yong Hwi Kim, Jin Bae Park

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

In this paper, a modified path planning method based on the APF (artificial potential field) is proposed for the mobile robot navigation system. The path planning method is very important to the robot navigation system. The APF is a commonly used path planning method because of its advantages of simple processing and online realization in the unknown environment. However, the T-APF (traditional-APF) has shortcomings such as local minima and path inefficiency problems. To overcome these drawbacks, the NP-APF (new point-APF) is proposed. NP-APF is a specialized method for using the LiDAR. The key idea of the NP-APF is that it creates the new point of the attractive force what can improve performance of the APF by solving its drawbacks. The new point is created when the obstacles block a path which makes straight-line from the mobile robot to the goal, and it helps the mobile robot overcome local minima and path inefficiency problems. The new point is created at the most reasonable place where no obstacle is detected by the LiDAR. The simulation results show the improvement of performance compared with the T-APF.

Original languageEnglish
Title of host publication2017 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages63-67
Number of pages5
ISBN (Electronic)9781538613054
DOIs
Publication statusPublished - 2018 Feb 13
Event2nd International Conference on Robotics and Automation Engineering, ICRAE 2017 - Shanghai, China
Duration: 2017 Dec 292017 Dec 31

Publication series

Name2017 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017
Volume2017-December

Other

Other2nd International Conference on Robotics and Automation Engineering, ICRAE 2017
CountryChina
CityShanghai
Period17/12/2917/12/31

Fingerprint

Artificial Potential Field
Motion planning
Mobile Robot
Mobile robots
Navigation systems
Path Planning
Robot Navigation
Lidar
Navigation System
Local Minima
Path
Robots
Processing
Straight Line
Unknown

All Science Journal Classification (ASJC) codes

  • Control and Optimization
  • Mechanical Engineering
  • Control and Systems Engineering

Cite this

Lee, D., Jeong, J., Kim, Y. H., & Park, J. B. (2018). An improved artificial potential field method with a new point of attractive force for a mobile robot. In 2017 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017 (pp. 63-67). (2017 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017; Vol. 2017-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRAE.2017.8291354
Lee, Donghyun ; Jeong, Jongmin ; Kim, Yong Hwi ; Park, Jin Bae. / An improved artificial potential field method with a new point of attractive force for a mobile robot. 2017 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 63-67 (2017 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017).
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abstract = "In this paper, a modified path planning method based on the APF (artificial potential field) is proposed for the mobile robot navigation system. The path planning method is very important to the robot navigation system. The APF is a commonly used path planning method because of its advantages of simple processing and online realization in the unknown environment. However, the T-APF (traditional-APF) has shortcomings such as local minima and path inefficiency problems. To overcome these drawbacks, the NP-APF (new point-APF) is proposed. NP-APF is a specialized method for using the LiDAR. The key idea of the NP-APF is that it creates the new point of the attractive force what can improve performance of the APF by solving its drawbacks. The new point is created when the obstacles block a path which makes straight-line from the mobile robot to the goal, and it helps the mobile robot overcome local minima and path inefficiency problems. The new point is created at the most reasonable place where no obstacle is detected by the LiDAR. The simulation results show the improvement of performance compared with the T-APF.",
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Lee, D, Jeong, J, Kim, YH & Park, JB 2018, An improved artificial potential field method with a new point of attractive force for a mobile robot. in 2017 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017. 2017 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017, vol. 2017-December, Institute of Electrical and Electronics Engineers Inc., pp. 63-67, 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017, Shanghai, China, 17/12/29. https://doi.org/10.1109/ICRAE.2017.8291354

An improved artificial potential field method with a new point of attractive force for a mobile robot. / Lee, Donghyun; Jeong, Jongmin; Kim, Yong Hwi; Park, Jin Bae.

2017 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017. Institute of Electrical and Electronics Engineers Inc., 2018. p. 63-67 (2017 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017; Vol. 2017-December).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Lee D, Jeong J, Kim YH, Park JB. An improved artificial potential field method with a new point of attractive force for a mobile robot. In 2017 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017. Institute of Electrical and Electronics Engineers Inc. 2018. p. 63-67. (2017 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017). https://doi.org/10.1109/ICRAE.2017.8291354