3D Path planning of fixed and mobile environments using potential field algorithm with Genetic algorithm

Al-Baghdadi, Ahmed; Ali, Ahmed Hussein

doi:10.1109/iemeconx.2019.8877086

Cited by 5 publications

(2 citation statements)

References 7 publications

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“…A new approach to plan the path of robots in dynamic and stationary environments using potential field method and genetic algorithm is presented in ref. [34]. A fuzzy optimal time-variant APF for controlling a mobile robot is proposed in ref.…”

Section: Introductionmentioning

confidence: 99%

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Motion planning of unmanned aerial vehicles in dynamic 3D space: a potential force approach

et al. 2022

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This research focuses on a collision-free real-time motion planning system for unmanned aerial vehicles (UAVs) in complex three-dimensional (3D) dynamic environments based on generalized potential force functions. The UAV must survive in such a complex heterogeneous environment while tracking a dynamic target and avoiding multiple stationary or dynamic obstacles, especially at low hover flying conditions. The system framework consists of two parts. The first part is the target tracking part employing a generalized extended attractive potential force into 3D space. In contrast, the second part is the obstacle avoidance part employing a generalized extended repulsive potential force into 3D space. These forces depend on the relative position and relative velocity between the UAV and respective obstacles. As a result, the UAV is attracted to a moving or stationary target and repulsed away from moving or static obstacles simultaneously in 3D space. Accordingly, it changes its altitude and projected planner position concurrently. A real-time implementation for the system is conducted in the SPACE laboratory to perform motion planning in 3D space. The system performance is validated in real-time experiments using three platforms: two parrot bebop drones and one turtlebot robot. The pose information of the vehicles is estimated using six Vicon cameras during real-time flights. The demonstrated results show the motion planning system’s effectiveness. Also, we propose a successful mathematical solution of the local minima problem associated with the potential field method in both stationary and dynamic environments.

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Section: Introductionmentioning

confidence: 99%

“…• To develop a systematic analytical solution of the potential filed approach for simultaneous path planning in a 3D dynamic environment. [34] x…”

Section: Introductionmentioning

confidence: 99%