Abstract
A one-dimensional (1D) virtual force field (VFF) algorithm for real-time reflexive local path planning of mobile robots is proposed. The 1D-VFF is composed of the virtual steering, obstacle and integrated force fields (IFFs). The steering force field (SFF) is generated by the local or global goal position. This SFF leads a mobile robot to the goal. The obstacle force field (OFF) is created by the raw data of a range measurement sensor (RMS). By this OFF, a mobile robot avoids obstacles. The IFF is produced by combining the steering and OFFs in which weights between 0 and 1 are multiplied. Through this IFF, a final steering command by which a mobile robot reaches a goal by avoiding obstacles is generated. Various simulations compare the performance of the proposed 1D-VFF with the weighted virtual tangential vector (WVTV), which is the recently suggested local path planning method to overcome the U-shaped enclosure problem.
| Original language | English |
|---|---|
| Pages (from-to) | 1429-1430 |
| Number of pages | 2 |
| Journal | Electronics Letters |
| Volume | 50 |
| Issue number | 20 |
| DOIs | |
| Publication status | Published - 2014 Sept 25 |
Bibliographical note
Publisher Copyright:© 2014 The Institution of Engineering and Technology.
All Science Journal Classification (ASJC) codes
- Electrical and Electronic Engineering