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Artificial potential field based path planning for mobile robots using a virtual obstacle concept

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2 Author(s)
Min Cheol Lee ; Graduate Sch. of Mech. & Intelligent Syst. Eng., Pusan Nat. Univ., South Korea ; Min Gyu Park

The artificial potential field (APF) based path planning methods have a local minimum problem, which can trap mobile robots before reaching it's goal. In this study, a new concept using a virtual obstacle is proposed to escape local minimums occurred in local path planning. A virtual obstacle is located around local minimums to repel a mobile robot from local minimums. A sensor based discrete modeling method is also proposed for modeling of the mobile robot with range sensors. This modeling method is adaptable for a real-time path planning because it provides lower complexity.

Published in:

Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on  (Volume:2 )

Date of Conference:

20-24 July 2003