Path planning of a mobile robot using solid modeling techniques on potential fields
This paper presents a systematic approach forstructuring potential fields in the free workspace of a mobilerobot based on solid modeling concepts. The robot isconsidered as a solid object with volume and mass inside anartificial potential field which represents the free space. Theapplied force and torque to the robot is determined in order tofind the direction and the magnitude of the translation and theangle of rotation respectively. A search method based on amodified simulated annealing is introduced to determine thepath from the initial to the goal configuration where the robotis guided to the global minimum of the potential field avoidingthe trap in local minima. Simulated experiments show theefficiency of the proposed approach and the paper concludeswith the discussion of the results and hints for future work.
A. Synodinos N.A. Aspragathos
Department of Mechanical and Aeronautics Engineering, University of Patras
国际会议
青岛
英文
549-553
2010-07-15（万方平台首次上网日期，不代表论文的发表时间）