The Transactions of the Korean Institute of Electrical Engineers P (전기학회논문지P)

The Korean Institute of Electrical Engineers (대한전기학회)
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Path Planning of Mobile Robot using Weighted Potential Function with Obstacle Avoidance

가중화된 포텐셜 함수를 이용한 이동 로봇의 장애물 회피 경로 계획

  • 김진환 (인하공업전문대학 전기정보과)
  • Published : 2009.03.01
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Abstract

This paper presents the potential field for mobile robot path planning. The proposed repulsive potential has weighted parts, which consists of conventional repulsive potential and goals nonreachable with obstacles nearby repulsive potential. It ensures the global minimum of the total potential when the robot approaches goals near obstacle and the robot passes the adjacent obstacles. Simulation results shows that the proposed potential is better than conventional potentials.

Keywords

References

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