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An improved Artificial Potential Field approach to real-time mobile robot path planning in an unknown environment

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3 Author(s)
Sfeir, J. ; Dept. of Electr. Eng., Univ. du Quebec, Montreal, QC, Canada ; Saad, M. ; Saliah-Hassane, H.

This paper deals with the navigation of a mobile robot in an unknown environment. The approach developed is based on the Artificial Potential Field (APF) method in which the target creates a virtual potential that attracts the robot while obstacles create a virtual potential that repels the robot. A new form of repelling potential is proposed in order to reduce oscillations and to avoid conflicts when the target is close to obstacles. A rotational force is integrated as well, allowing for a smoother trajectory around the obstacles. Experiment results show the effectiveness of the proposed approach.

Published in:

Robotic and Sensors Environments (ROSE), 2011 IEEE International Symposium on

Date of Conference:

17-18 Sept. 2011