A Kinetic Energy Based Potential Field Method for the Local Obstacle Avoidance of Mobile Robots

• 영문명: A Kinetic Energy Based Potential Field Method for the Local Obstacle Avoidance of Mobile Robots
• 발행기관: 한국과학기술원 인간친화 복지 로봇 시스템 연구센터
• 저자명: Xin Yang Keigo Watanabe Kiyotaka Izumi Kazuo Kiguchi
• 간행물 정보: 『International Journal of Assistive Robotics and Mechatronics』International Journal of Human-friendly Welfare Robotic Systems Vol.4 No.1, 59~67쪽, 전체 9쪽
• 주제분류: 공학 > 제어계측공학
• 파일형태: PDF
• 발행일자: 2003.04.01

영문 초록

  In this paper, a kinetic energy based potential field method (KEPFM) is proposed for the local obstacle avoidance of mobile robots. The magnitude of the artificial potential force is calculated by the kinetic energy of a robot relative to an obstacle or goal. Combining with a high-level path planner, this method makes the mobile robot be able to move in a dynamic environment and need not adjust any parameters related to the artificial potential force in a new environment, as required in the conventional potential field method (PFM). Two mobile robots cooperatively transporting a long object in a narrow space are introduced as an application of the KEPFM. Simulation results show the effectiveness of the proposed method.

목차

Abstract
Ⅰ. INTRODUCTION
Ⅱ. KINETIC ENERGY BASED POTENTIAL FIELD METHOD
Ⅲ. USING KEPFM IN LOCAL OBSTACLE AVOIDANCE
Ⅳ. USE OF KEPFM IN A COOPERATIVE TRANSPORTATION SYSTEM
Ⅴ. SIMULATIONS
Ⅵ. CONCLUSIONS
REFERENCES

키워드

mobile robot obstacle avoidance potential field method cooperative transportation