제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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- Pages.446-448
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- 1994
Real time navigaion strategy of a robile robot using artificial potential field
- Chung, Yong-Hyun (Department of Electrical Engineering, Yeungam University) ;
- Jin, Sang-Ho (Department of Mechanical Engineering, Saga national university, Japan) ;
- Park, Jung-Il (Department of Electronic Engineering, Yeungam University) ;
- Lee, Suck-Gyu (Department of Electrical Engineering, Yeungam University) ;
- Lee, Dal-Hae (Department of Electrical Engineering, Yeungam University)
- 발행 : 1994.10.01
초록
This paper proposes some dynamic navigation strategy for a mobile robot among multiple moving obstacles. The control force of the robot which consists of repulsive and attractive force is based on the artificial potential field. The artificial potential fields is derived with position or(and) velocities of the objects. The simulation results shows the properties of the proposed strategies.
키워드