An improved artificial potential field method with a new point of attractive force for a mobile robot

Donghyun Lee; Jongmin Jeong; Yong Hwi Kim; Jin Bae Park

doi:10.1109/ICRAE.2017.8291354

An improved artificial potential field method with a new point of attractive force for a mobile robot

Donghyun Lee, Jongmin Jeong, Yong Hwi Kim, Jin Bae Park

Department of Electrical and Electronic Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

16 Citations (Scopus)

Abstract

In this paper, a modified path planning method based on the APF (artificial potential field) is proposed for the mobile robot navigation system. The path planning method is very important to the robot navigation system. The APF is a commonly used path planning method because of its advantages of simple processing and online realization in the unknown environment. However, the T-APF (traditional-APF) has shortcomings such as local minima and path inefficiency problems. To overcome these drawbacks, the NP-APF (new point-APF) is proposed. NP-APF is a specialized method for using the LiDAR. The key idea of the NP-APF is that it creates the new point of the attractive force what can improve performance of the APF by solving its drawbacks. The new point is created when the obstacles block a path which makes straight-line from the mobile robot to the goal, and it helps the mobile robot overcome local minima and path inefficiency problems. The new point is created at the most reasonable place where no obstacle is detected by the LiDAR. The simulation results show the improvement of performance compared with the T-APF.

Original language	English
Title of host publication	2017 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	63-67
Number of pages	5
ISBN (Electronic)	9781538613054
DOIs	https://doi.org/10.1109/ICRAE.2017.8291354
Publication status	Published - 2018 Feb 13
Event	2nd International Conference on Robotics and Automation Engineering, ICRAE 2017 - Shanghai, China Duration: 2017 Dec 29 → 2017 Dec 31

Publication series

Name	2017 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017
Volume	2017-December

Other

Other	2nd International Conference on Robotics and Automation Engineering, ICRAE 2017
Country/Territory	China
City	Shanghai
Period	17/12/29 → 17/12/31

Bibliographical note

Funding Information:
ACKNOWLEDGMENT This project was partially supported by Microsoft Research and was supported by the National Research Foundation of Korea(NRF) grant funded by the Korea government(MSIP) (No. NRF-2015R1A2A2A01007545).

Publisher Copyright:
© 2017 IEEE.

All Science Journal Classification (ASJC) codes

Control and Optimization
Mechanical Engineering
Control and Systems Engineering

Access to Document

10.1109/ICRAE.2017.8291354

Cite this

Lee, D., Jeong, J., Kim, Y. H., & Park, J. B. (2018). An improved artificial potential field method with a new point of attractive force for a mobile robot. In 2017 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017 (pp. 63-67). (2017 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017; Vol. 2017-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRAE.2017.8291354

Lee, Donghyun ; Jeong, Jongmin ; Kim, Yong Hwi et al. / An improved artificial potential field method with a new point of attractive force for a mobile robot. 2017 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 63-67 (2017 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017).

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abstract = "In this paper, a modified path planning method based on the APF (artificial potential field) is proposed for the mobile robot navigation system. The path planning method is very important to the robot navigation system. The APF is a commonly used path planning method because of its advantages of simple processing and online realization in the unknown environment. However, the T-APF (traditional-APF) has shortcomings such as local minima and path inefficiency problems. To overcome these drawbacks, the NP-APF (new point-APF) is proposed. NP-APF is a specialized method for using the LiDAR. The key idea of the NP-APF is that it creates the new point of the attractive force what can improve performance of the APF by solving its drawbacks. The new point is created when the obstacles block a path which makes straight-line from the mobile robot to the goal, and it helps the mobile robot overcome local minima and path inefficiency problems. The new point is created at the most reasonable place where no obstacle is detected by the LiDAR. The simulation results show the improvement of performance compared with the T-APF.",

author = "Donghyun Lee and Jongmin Jeong and Kim, {Yong Hwi} and Park, {Jin Bae}",

note = "Funding Information: ACKNOWLEDGMENT This project was partially supported by Microsoft Research and was supported by the National Research Foundation of Korea(NRF) grant funded by the Korea government(MSIP) (No. NRF-2015R1A2A2A01007545). Publisher Copyright: {\textcopyright} 2017 IEEE.; 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017 ; Conference date: 29-12-2017 Through 31-12-2017",

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Lee, D, Jeong, J, Kim, YH & Park, JB 2018, An improved artificial potential field method with a new point of attractive force for a mobile robot. in 2017 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017. 2017 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017, vol. 2017-December, Institute of Electrical and Electronics Engineers Inc., pp. 63-67, 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017, Shanghai, China, 17/12/29. https://doi.org/10.1109/ICRAE.2017.8291354

An improved artificial potential field method with a new point of attractive force for a mobile robot. / Lee, Donghyun; Jeong, Jongmin; Kim, Yong Hwi et al.
2017 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017. Institute of Electrical and Electronics Engineers Inc., 2018. p. 63-67 (2017 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017; Vol. 2017-December).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AU - Jeong, Jongmin

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N1 - Funding Information: ACKNOWLEDGMENT This project was partially supported by Microsoft Research and was supported by the National Research Foundation of Korea(NRF) grant funded by the Korea government(MSIP) (No. NRF-2015R1A2A2A01007545). Publisher Copyright: © 2017 IEEE.

PY - 2018/2/13

Y1 - 2018/2/13

N2 - In this paper, a modified path planning method based on the APF (artificial potential field) is proposed for the mobile robot navigation system. The path planning method is very important to the robot navigation system. The APF is a commonly used path planning method because of its advantages of simple processing and online realization in the unknown environment. However, the T-APF (traditional-APF) has shortcomings such as local minima and path inefficiency problems. To overcome these drawbacks, the NP-APF (new point-APF) is proposed. NP-APF is a specialized method for using the LiDAR. The key idea of the NP-APF is that it creates the new point of the attractive force what can improve performance of the APF by solving its drawbacks. The new point is created when the obstacles block a path which makes straight-line from the mobile robot to the goal, and it helps the mobile robot overcome local minima and path inefficiency problems. The new point is created at the most reasonable place where no obstacle is detected by the LiDAR. The simulation results show the improvement of performance compared with the T-APF.

AB - In this paper, a modified path planning method based on the APF (artificial potential field) is proposed for the mobile robot navigation system. The path planning method is very important to the robot navigation system. The APF is a commonly used path planning method because of its advantages of simple processing and online realization in the unknown environment. However, the T-APF (traditional-APF) has shortcomings such as local minima and path inefficiency problems. To overcome these drawbacks, the NP-APF (new point-APF) is proposed. NP-APF is a specialized method for using the LiDAR. The key idea of the NP-APF is that it creates the new point of the attractive force what can improve performance of the APF by solving its drawbacks. The new point is created when the obstacles block a path which makes straight-line from the mobile robot to the goal, and it helps the mobile robot overcome local minima and path inefficiency problems. The new point is created at the most reasonable place where no obstacle is detected by the LiDAR. The simulation results show the improvement of performance compared with the T-APF.

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Lee D, Jeong J, Kim YH, Park JB. An improved artificial potential field method with a new point of attractive force for a mobile robot. In 2017 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017. Institute of Electrical and Electronics Engineers Inc. 2018. p. 63-67. (2017 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017). doi: 10.1109/ICRAE.2017.8291354

An improved artificial potential field method with a new point of attractive force for a mobile robot

Abstract

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