Research Article
Path Planning of Mobile Robot by using Modified Optimized Potential Field Method
|
International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
|
| Volume 113 - Issue 4 |
| Published: March 2015 |
| Authors: Alaa A. Ahmed, Turki Y. Abdalla, Ali A. Abed |
10.5120/19812-1614
|
Alaa A. Ahmed, Turki Y. Abdalla, Ali A. Abed . Path Planning of Mobile Robot by using Modified Optimized Potential Field Method. International Journal of Computer Applications. 113, 4 (March 2015), 6-10. DOI=10.5120/19812-1614
@article{ 10.5120/19812-1614,
author = { Alaa A. Ahmed,Turki Y. Abdalla,Ali A. Abed },
title = { Path Planning of Mobile Robot by using Modified Optimized Potential Field Method },
journal = { International Journal of Computer Applications },
year = { 2015 },
volume = { 113 },
number = { 4 },
pages = { 6-10 },
doi = { 10.5120/19812-1614 },
publisher = { Foundation of Computer Science (FCS), NY, USA }
}
%0 Journal Article
%D 2015
%A Alaa A. Ahmed
%A Turki Y. Abdalla
%A Ali A. Abed
%T Path Planning of Mobile Robot by using Modified Optimized Potential Field Method%T
%J International Journal of Computer Applications
%V 113
%N 4
%P 6-10
%R 10.5120/19812-1614
%I Foundation of Computer Science (FCS), NY, USA
Abstract
This paper deals with the navigation of a mobile robot in an unknown environment by using artificial potential field (APF) method. The aim is to develop a method for path planning of mobile robot from start point to the goal point while avoiding obstacles on robot's path. Artificial potential field method will be modified and optimized by using particle swarm optimization (PSO) algorithm to solve the drawbacks such as local minima and improve the quality of the trajectory of mobile robot.
References
- Shahab Sheikh-Bahaei, ''Discrete Event Modeling Simulation and Control with Application to Sensor Based Intelligent Mobile Robotics'', M. Sc. Thesis, Electrical Engineering, The University of New Mexico, December, 2003.
- Hui Miao, "Robot Path Planning in Dynamic Environments Using a Simulated Annealing Based Approach", M. Sc. Thesis, Queensland University of Technology, March 2009
- Luciano C. A. Pimenta1, Alexandre R. Fonseca, and Guilherme A. S. Pereira, "On Computing Complex Navigation Functions", Proceedings of the 2005 IEEE International Conference on Robotics and Automation Barcelona, Spain, April 2005
- Khatib O. ,"Real-Time Obstacle Avoidance for Manipulators and Mobile Robots", International Journal of Robotic Research, vol. 5, pp. 90-98, 1986.
- Liu Chengqing, Marcelo HAng Jr, Hariharan Krishnan and Lim Ser Yong, "Virtual Obstacle Concept for Local-minimum-recovery in Potential-field Based Navigation", Proceedings of the 2000 IEEE International Conference on Robotics & Automation San Francisco, CA • April 2000
- P. Vadakkepat, K. C. Tan, and W. Ming?Liang, "Evolutionary Artificial Potential Fields and their Application in Real Time Robot Path Planning", Congress on Evolutionary Computation (2000) 1256 – 263.
- Ge, S. S. and Cui, Y. J. , "Dynamic Motion Planning for Mobile Robots Using Potential Field Method", Autonomous Robots, vol. 13, pp. 207-222, 2002.
- Ge, S. S. and Cui, Y. J. , "New Potential Functions for Mobile Robot Path Planning", IEEE Transactions on Robotics and Automation, vol. 16, pp. 615-620, 2002.
- Volpe, R. and Khosla, P. , "Manipulator Control with Superquadric Artificial Potential Functions: Theory and Experiments", IEEE Transactions on Systems, Man and Cybernetics, vol. 20, pp. 1423-1436, 1990.
- Lee, L. -F. , "Decentralized Motion Planning Within an Artificial Potential Framework (APF) for Cooperative Payload Transport by Multi-Robot Collectives", Mechanical & Aerospace Engineering, State University of New York at Buffalo, NY, Buffalo, 2004.
- Miguel A. Padilla Castaneda, Jesus Savage, Adalberto Hernandez and Fernando Arambula Cosío, "Local Autonomous Robot Navigation Using Potential Fields", Xing-Jian Jing (Ed. ), ISBN: 978-953-7619-01-5, InTech.
- Jinchao Gue, Yu Gao and Guangzhao Cui, "Path planning of mobile Robot base on Improved Potential Field", Information Technology Journal 12(11) 2013
- Guanghui Li, Atsushi Yamashita and Hajime Asama Yusuke Tamura, "An Efficient Improved Artificial Potential Field Based Regression Search Method for Robot Path Planning", Proceedings of the 2000 IEEE International Conference on Robotics & Automation San Francisco, CA • April 2000
- Vipul B. Patel , Virendra singh and Ravi H. Acharya, "Design of FPGA-based All Digital PID Controller for Dynamic Systems", International Journal of Advanced Research in Electrical, Electronics and Instrumentation Engineering Vol. 1, Issue 2, August 2012
- M. Gupta, L. Behera and K. S. Venkatesh, "PSO based modeling of Takagi-Sugeno fuzzy motion controller for dynamic object tracking with mobile platform", Proceedings of IEEE the International Multiconference on Computer Science and Information Technology, Vol. (5), pp. 37–43, Poland, 2010
- K. Ramanathan , V. M. Periasamy , M. Pushpavanam and U. Natarajan, " Particle Swarm Optimisation of hardness in nickel diamond electro composites", International Scientific Journal 2009 vol. 1 issue 4 232-236
- Su Weijun, Meng Rui and Yu Chongchong, "A Study on Soccer Robot Path Planning with Fuzzy Artificial Potential Field", Proceedings of the 2010 International Conference on Computing, Control and Industrial Engineering (CCIE), vol. 1 ,pp. 386-390 (2010)
- M. HAMANI and A. HASSAM, "Mobile Robot Navigation in Unknown Environment Using Improved APF Method", the 12th international Arab Conference on information Technology ACIT'2012 Dec. 10-13
Index Terms
Keywords