A Novel of Repulsive Function on Artificial Potential Field for Robot Path Planning

Triharminto, Hendri Himawan; Wahyunggoro, O.; Adji, T. B.; Cahyadi, A. I.; Ardiyanto, Igi

doi:10.11591/ijece.v6i6.11980

Cited by 8 publications

(12 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…We chose this method for comparison to show its disadvantages, which we have subsequently we have treated in this article.– New potential functions advanced by Ge and Cui (2000) to deal with GNRON problems. We opted for this method in our comparison since most other solutions in the literature have sprung from this method and even have almost the same mathematical formulae.– The novel repulsive function method proposed by Triharminto et al (2016). We picked this method for our comparison since it deals with both problems (GNRON and local minimum) at the same time.…”

Section: Simulation Resultsmentioning

confidence: 99%

“…Most of the existing methods in the literature which solve the GNRON problem modify the repulsive function by taking into account the relative distance between the robot and the goal (Ahmed et al, 2015; Ge and Cui, 2000; Jia et al, 2015; Rajvanshi et al, 2015; Triharminto et al, 2016). All of these methods have the same principle and almost all of them have the same form of the new repulsive function.…”

Section: Pa-apfmentioning

confidence: 99%

“…Harmonic potential and the stream function are used by other researchers to find an adequate path for the robot navigation without a local minimum (Honglun et al, 2015; Kalavsky and Ferkova, 2012; Masoud, 2013; Wang and Ju, 2015). Another class of researchers have changed the form of the classic repulsive force as an effective solution (Triharminto et al, 2016). Nevertheless, the algorithms corresponding to these methods are computationally expensive.…”

Section: Pa-apfmentioning

confidence: 99%

“…Both the virtual obstacle technique and the artificial goal technique are used to solve these problems. A new repulsive potential function to solve the problem of local minimum associated with GNRON was proposed by Triharminto et al (2016). To solve the local minimum problem, a surrounding repulsive force is considered.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

An advanced potential field method proposed for mobile robot path planning

Azzabi

Nouri

2019

Transactions of the Institute of Measurement and Control

View full text Add to dashboard Cite

In this paper, both the local minimum and the goal non-reachable with obstacles nearby (GNRON) problems have been solved on the artificial potential field (APF) for mobile robot path planning in a bounded environment. The GNRON problem occurs when the goal’s position is inside the circle of influence of the obstacle. This phenomenon gives rise to a larger repulsive force with regard to the attractive force. Therefore, a stronger attractive function is proposed to ensure that the robot reaches the target successfully. The local minimum problem occurs when the robot, the goal and the centre of the obstacle are aligned. This situation engenders a total potential force equal to zero before reaching the goal position. To overcome this problem, a novel of repulsive potential function is proposed by activating a virtual escaping force when a local minimum is detected. This force behaves as a rotational force allowing the robot to escape from the deadlock positions and turn smoothly away from obstacles in the direction of the target. The combination of the new attractive force and the novel repulsive force could solve the local minimum and the GNRON problems. Finally, some methodic simulations, based on a comparative study with other methods from the literature, are carried out to validate and demonstrate the effectiveness of the advanced potential field method to handle the local minimum and GNRON problems.

show abstract

Section: Simulation Resultsmentioning

confidence: 99%

Section: Pa-apfmentioning

confidence: 99%

Section: Pa-apfmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

An advanced potential field method proposed for mobile robot path planning

Azzabi

Nouri

2019

Transactions of the Institute of Measurement and Control

View full text Add to dashboard Cite

show abstract

“…O tratamento dos pontos mínimos locais costuma ser feito através de alterações na F rep ou adição de novas forças na F total [4], [5], [8], [9], com o objetivo de evitar que as forças se anulem em algum ponto que não seja o ponto objetivo. Para o sistema deste artigo, foi utilizada uma versão modificada da técnica usada por Sun [5], que adiciona à F rep uma força tangencial aos obstáculos para evitar que o agente se posicione desfavoravelmente.…”

Section: Descrição Do Modelounclassified

Campos Potenciais Artificiais e Consenso Aplicados ao Problema de Navegação de Sistemas Multiagente Heterogêneo

Pereira¹,

Carvalho²

2020

Anais Estendidos Do X Simpósio Brasileiro De Engenharia De Sistemas Computacionais (SBESC Estendido 2020)

View full text Add to dashboard Cite

Este artigo avalia a eficácia da aplicação combinada da técnica conhecida por Campos Potenciais Artificiais (CPA) com a técnica de Consenso para sistemas multiagente heterogêneos compostos por Veículos Aéreos Não Tripulados (VANT) e Veículos Terrestres Não Tripulados (VTNT). O Consenso é uma técnica muito utilizada para movimentações coordenadas em formação de múltiplos agentes, enquanto que a técnica de CPA é tipicamente usada para a navegação com desvio de obstáculos em sistemas multiagente devido à sua simplicidade e eficiência. Apesar da existência de pesquisas envolvendo o uso de CPA e Consenso em conjunto, nenhuma explora a cooperação de veículos com diferentes capacidades de movimentação. Neste artigo, é apresentada uma arquitetura para sistemas multiagente compostos por VANTs e VTNTs para a execução de tarefas em ambientes de operação de exterior usando a técnica de Consenso para a manutenção da formação, e a técnica de CPA para o desvio de obstáculos. São realizados experimentos em simulações com o objetivo de demonstrar que a utilização de CPA e Consenso em conjunto é uma estratégia efetiva para a navegação em formação de um sistema multiagente composto por VANTs e VTNTs, em ambientes onde há a presença de obstáculos.

show abstract

Intelligent cooperative collision avoidance via fuzzy potential fields

2021

View full text Add to dashboard Cite

Summary This paper proposes an intelligent cooperative collision avoidance approach combining the enhanced potential field (EPF) with a fuzzy inference system (FIS) to resolve local minima and goal non-reachable with obstacles nearby issues and provide a near-optimal collision-free trajectory. A genetic algorithm is utilized to optimize parameters of membership function and rule base of the FISs. This work uses a single scenario containing all issues and interactions among unmanned aerial vehicles (UAVs) for training. For validating the performance, two scenarios containing obstacles with different shapes and several UAVs in small airspace are considered. Multiple simulation results show that the proposed approach outperforms the conventional EPF approach statistically.

show abstract

A Novel of Repulsive Function on Artificial Potential Field for Robot Path Planning

Cited by 8 publications

References 0 publications

An advanced potential field method proposed for mobile robot path planning

An advanced potential field method proposed for mobile robot path planning

Campos Potenciais Artificiais e Consenso Aplicados ao Problema de Navegação de Sistemas Multiagente Heterogêneo

Intelligent cooperative collision avoidance via fuzzy potential fields

Contact Info

Product

Resources

About