A New Approach Based in Potential Fields with Obstacles Avoidance for Mobile Robots

A New Approach Based in Potential Fields with Obstacles Avoidance for Mobile Robots

This paper proposes a new approach for the method of path planning with obstacles avoidance based on potential fields, also known as APF method. This new approach consists on a way to overcome the problem of local minima, present in the APF method, assuring a more effective path planning. It is used...

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Bibliographic Details
Published in:2016 XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium (LARS/SBR) pp. 229 - 233
Main Authors: Cerqueira, Tadeu Abreu, Santos, Tito L. M., Conceicao, Andre G. S.
Format: Conference Proceeding
Language:English
Published: IEEE 01-10-2016
Subjects:
Kinematic Control
Kinematics
Mobile robots
Obstacles Avoidance
Path Planning
Planning
Potential Fields
Robot kinematics
Trajectory
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Summary:This paper proposes a new approach for the method of path planning with obstacles avoidance based on potential fields, also known as APF method. This new approach consists on a way to overcome the problem of local minima, present in the APF method, assuring a more effective path planning. It is used a mobile robot with differential drive as a base for testing, which is applied a kinematic control, allowing the robot drives a previously planned path to reach the goal point and avoid automatically the obstacles arranged on the environment.
DOI:10.1109/LARS-SBR.2016.45