A New Technique to Escape Local Minimum in Artificial Potential Field Based Path Planning

  • Park, Min-Gyu (Graduate School of Mechanical and Intelligent Systems Engineering, Pusan National University) ;
  • Lee, Min-Cheol (School of Mechanical Engineering, Pusan National University)
  • Published : 2003.12.01


The artificial potential field (APF) methods provide simple and efficient motion planners for practical purposes. However, these methods have a local minimum problem, which can trap an object before reaching its goal. The local minimum problem is sometimes inevitable when an object moves in unknown environments, because the object cannot predict local minima before it detects obstacles forming the local minima. The avoidance of local minima has been an active research topic in the potential field based path planing. In this study, we propose a new concept using a virtual obstacle to escape local minima that occur in local path planning. A virtual obstacle is located around local minima to repel an object from local minima. We also propose the discrete modeling method for the modeling of arbitrary shaped objects used in this approach. This modeling method is adaptable for real-time path planning because it is reliable and provides lower complexity.



  1. Andrews, J. R. and Hogan, N., 1983, 'Impedance Control as a Framework for Implementing Obstacle Avoidance in a Manipulator,' Control of Manufacturing Process and Robotic System, David E. Hardt and Wayne J. Book, Editors, ASME, pp. 243 - 251
  2. Cho, W. J. and Kwon, D. S., 1996, 'A Sensor-Based Obstacle A voidance for a Redundant Manipulator Using a Velocity Potential Function,' IEEE Int. workshop on Robot and Human Communication, pp. 306 - 310 https://doi.org/10.1109/ROMAN.1996.568854
  3. Han, K. B., Kim, H. Y. and Baek, Y. S., 2001, 'Corridor Navigation of the Mobile Robot Using Image Based control,' KSME International Journal, Vol. 15, No.8, pp. 1097-1107
  4. Im, K. Y., Oh, S. Y. and Han, S. J., 2002, 'Evolving a Modular Neural Network-Based Behavioral Fusion Using Extended VFF and Environment Classification for Mobile Robot Navigation' IEEE Transactions on Evolutionary Computation, Vol. 6, Issue. 4, pp.413-419 https://doi.org/10.1109/TEVC.2002.802440
  5. Janabi-Sharifi, F. and Vinke, D., 1993, 'Integration of the Artificial Potential Field Approach with Simulated Annealing for Robot Path Planning,' Proceedings of the 1993 IEEE International Symposium on Intelligent Control, pp.536-541 https://doi.org/10.1109/ISIC.1993.397640
  6. Kang, S. K. and Lim, J. H., 1999, 'Sonar Based Position Estimation System for an Autonomous Mobile Robot Operating in an Unknown Environment,' KSME International Journal, Vol. 13, No.4, pp. 339- 349 https://doi.org/10.1007/BF02939322
  7. Khatib, O., 1986, 'Real-Time Obstacle Avoidance for Manipulators and Mobile Robots,' International Journal of Robotics Research, Vol. 5, No. 1, pp. 90-98 https://doi.org/10.1177/027836498600500106
  8. Kim, J. O. and Khosla, P. K., 1992, 'Real-Time Obstacle Avoidance Using Harmonic Potential Functions,' IEEE Trans. on Robotics and Automation, Vol. 8, No.3, pp. 338-349 https://doi.org/10.1109/70.143352
  9. Lee, S. H. and Park, J., 1991, 'Cellular Robotic Collising- Free Path Planning,' Fifth International Conference on Advanced Robotics, 'Robots in Unstructured Environments,' Vol. 1, pp. 539-544 https://doi.org/10.1109/ICAR.1991.240597
  10. McFetridge, L. and Yousef-Ibrahim, M., 1998, 'New Technique of Mobile Robot Navigation Using a Hybrid Adaptive Fuqqy-Potential Field Approach,' Computers & Industrial Engineering, Vol. 35, Issues 3-4, pp.471-474 https://doi.org/10.1016/S0360-8352(98)00136-3
  11. Rimon, E. and Koditschek, D. E., 1992, 'Exact Robot Navigation Using Artificial Potential Functions,' IEEE Trans. on Robotics and Automation, Vol. 8, No.5, pp. 501-508 https://doi.org/10.1109/70.163777
  12. Sacks, E., 2002, 'Path Planning with Configuration Spaces and Compliant Motion,' Purdue University Technical Report, CSD-TR00-011
  13. Singh. S., Simmons, R., Smith, T., Stentz, A., Verma, V., Yahja, A. and Schwehr, K., 2000, 'Recent Progress in Local and Global Traversability for Planetary Rovers,' In Proceedings International Conference on Robotics and Autonomous, Vol. 2, pp. 1194-1200 https://doi.org/10.1109/ROBOT.2000.844761
  14. Volpe, R. and Khosla, P., 1990, 'Manipulator Control with Superquadric Artivicial Potential Functions: Theory and Experiments,' IEEE Trans. on System, Man and Cybernetics, Vol. 20, No.6, pp. 1423-1436 https://doi.org/10.1109/21.61211