A modified artificial potential field algorithm for mobile robot path planning

Abstract-Considering the kinematic constraints and the path discreteness, a novel path planning method based on the feasible gait is proposed for an inchworm-like robot moving in a narrow space in this paper. Firstly, by analyzing the locomotion modes and the basic gaits of the robot, some arithmetic operators to describe the change of the position and orientation are defined, and a gait graph model is also presented. Secondly, making reference to the main idea of the partial dynamic window method, the path planning method is proposed, which include the environment modeling based on the dynamic partial grid map and the feasible gait searching algorithm based on the complete or incomplete traversal. Finally, some simulations and experiments are provided to validate the rationality and the validity of the path planning method.

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Double target potential field: Planning the movement on passing and kicking the ball in soccer robot

Manalu

2014

2014 6th International Conference on Information Technology and Electrical Engineering (ICITEE)

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A modified artificial potential field algorithm for mobile robot path planning

Cited by 7 publications

References 3 publications

A faster path planner using accelerated particle swarm optimization

A faster path planner using accelerated particle swarm optimization

Path planning for inchworm-like robot moving in narrow space

Double target potential field: Planning the movement on passing and kicking the ball in soccer robot

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