로컬 경로 계획을 위한 포텐셜 함수 기반의 가상 탈출 루트 연구

Escaping Route Method in a Trap Situation for Local Path Planning

This paper presents an escaping route method in a trap situation (a case that the robot is trapped in a local minimum by the potential of obstacles). In this scheme, the APFs for path planning have a multiplicative and auditive configuration between APFs for goal destination and APFs for obstacle avoidance unlike conventional configuration where APFs for obstacle avoidance is added to APFs for goal destination. The virtual escaping route method is proposed to allow a robot to escape from a local minimum in trap situation where the total forces composed of repulsive forces by obstacles and attractive force by a goal are zero.