Smooth Path Planning by Fusion of Artificial Potential Field Method and Collision Cone Approach

Yong Hwi Kim; Wan Sic Son; Jin Bae Park; Tae Sung Yoon

doi:10.1051/matecconf/20167505004

Smooth Path Planning by Fusion of Artificial Potential Field Method and Collision Cone Approach

Yong Hwi Kim, Wan Sic Son, Jin Bae Park, Tae Sung Yoon

Department of Electrical and Electronic Engineering

Research output: Contribution to journal › Conference article › peer-review

10 Citations (Scopus)

Abstract

A variety of path planning methods have been developed for different purposes, such as minimum path length and minimum processing time and smoothness of the path. This paper presents a novel path planning method by fusion of artificial potential filed (APF) and collision cone approach. The proposed algorithm provides smooth path and avoids local minima problem of the existing APF. And the smoothness of the path produced from the proposed algorithm is estimated by calculating the accumulated force which occurs while a robot passes a whole path. The proposed smooth path planning also can be helpful for considering vehicle kinematics and the safety of vehicle passengers. The simulation results demonstrate the performance of the proposed method.

Original language	English
Article number	05004
Journal	MATEC Web of Conferences
Volume	75
DOIs	https://doi.org/10.1051/matecconf/20167505004
Publication status	Published - 2016 Sept 1
Event	1st International Conference on Measurement Instrumentation and Electronics, ICMIE 2016 - Munich, Germany Duration: 2016 Jun 6 → 2016 Jun 8

Bibliographical note

Publisher Copyright:
© 2016 The Authors, published by EDP Sciences.

All Science Journal Classification (ASJC) codes

Chemistry(all)
Materials Science(all)
Engineering(all)

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10.1051/matecconf/20167505004

Cite this

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title = "Smooth Path Planning by Fusion of Artificial Potential Field Method and Collision Cone Approach",

abstract = "A variety of path planning methods have been developed for different purposes, such as minimum path length and minimum processing time and smoothness of the path. This paper presents a novel path planning method by fusion of artificial potential filed (APF) and collision cone approach. The proposed algorithm provides smooth path and avoids local minima problem of the existing APF. And the smoothness of the path produced from the proposed algorithm is estimated by calculating the accumulated force which occurs while a robot passes a whole path. The proposed smooth path planning also can be helpful for considering vehicle kinematics and the safety of vehicle passengers. The simulation results demonstrate the performance of the proposed method.",

author = "Kim, {Yong Hwi} and Son, {Wan Sic} and Park, {Jin Bae} and Yoon, {Tae Sung}",

note = "Publisher Copyright: {\textcopyright} 2016 The Authors, published by EDP Sciences.; 1st International Conference on Measurement Instrumentation and Electronics, ICMIE 2016 ; Conference date: 06-06-2016 Through 08-06-2016",

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TY - JOUR

T1 - Smooth Path Planning by Fusion of Artificial Potential Field Method and Collision Cone Approach

AU - Kim, Yong Hwi

AU - Son, Wan Sic

AU - Park, Jin Bae

AU - Yoon, Tae Sung

PY - 2016/9/1

Y1 - 2016/9/1

N2 - A variety of path planning methods have been developed for different purposes, such as minimum path length and minimum processing time and smoothness of the path. This paper presents a novel path planning method by fusion of artificial potential filed (APF) and collision cone approach. The proposed algorithm provides smooth path and avoids local minima problem of the existing APF. And the smoothness of the path produced from the proposed algorithm is estimated by calculating the accumulated force which occurs while a robot passes a whole path. The proposed smooth path planning also can be helpful for considering vehicle kinematics and the safety of vehicle passengers. The simulation results demonstrate the performance of the proposed method.

AB - A variety of path planning methods have been developed for different purposes, such as minimum path length and minimum processing time and smoothness of the path. This paper presents a novel path planning method by fusion of artificial potential filed (APF) and collision cone approach. The proposed algorithm provides smooth path and avoids local minima problem of the existing APF. And the smoothness of the path produced from the proposed algorithm is estimated by calculating the accumulated force which occurs while a robot passes a whole path. The proposed smooth path planning also can be helpful for considering vehicle kinematics and the safety of vehicle passengers. The simulation results demonstrate the performance of the proposed method.

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DO - 10.1051/matecconf/20167505004

M3 - Conference article

AN - SCOPUS:84987704983

SN - 2261-236X

VL - 75

JO - MATEC Web of Conferences

JF - MATEC Web of Conferences

M1 - 05004

T2 - 1st International Conference on Measurement Instrumentation and Electronics, ICMIE 2016

Y2 - 6 June 2016 through 8 June 2016

ER -

Smooth Path Planning by Fusion of Artificial Potential Field Method and Collision Cone Approach

Abstract

Bibliographical note

All Science Journal Classification (ASJC) codes

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