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Navigation Technique of Unmanned Vehicle Using Potential Field Method  

Lee, Sang-Won (Graduate School of Mechanical Engineering, Pusan National University)
Moon, Young-Geun (Graduate School of Mechanical Engineering, Pusan National University)
Kim, Sung-Hyun (Automoble Department, Busan College of Information Technology)
Lee, Min-Cheol (School of Mechnical Engineering, Pusan National University)
Publication Information
Transactions of the Korean Society of Automotive Engineers / v.19, no.4, 2011 , pp. 8-15 More about this Journal
Abstract
This paper proposes a real-time navigation algorithm which integrates the artificial potential field (APF) for an unmanned vehicle in the unknown environment. This approach uses repulsive potential function around the obstacles to force the vehicle away and an attractive potential function around the goal to attract the vehicle. In this research, laser range finder is used as range sensor. An obstacle detected by the sensor creates repulsive vector. Differential global positioning system (DGPS) and digital compass are used to measure the current vehicle position and orientation. The measured vehicle position is also used to create attractive vector. This paper proposes a new concept of potential field based navigation which controls unmanned vehicle's speed and steering. The magnitude of repulsive force based on the proposed algorithm is designed not to be over the magnitude of attractive force while the magnitude is increased linearly as being closer to obstacle. Consequently, the vehicle experiences a generalized force toward the negative gradient of the total potential. This force drives the vehicle downhill towards its goal configuration until the vehicle reaches minimum potential and it stops. The effectiveness of the proposed APF for unmanned vehicle is verified through simulation and experiment.
Keywords
Unmmand vehicle; Differential Global Positioning System(DGPS); Obstacle avoidance; Laser range finder; Digital compass; Potential field;
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
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