A Potential Field Simulation Study for Mobile Robot Path Planning in Dynamic Environments

Garibeh, Mohammad H.; Jaradat, Mohammad A.; Rawashdeh, Nathir A.

doi:10.1109/rem.2019.8744125

Cited by 3 publications

(1 citation statement)

References 8 publications

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“…The RFID readers acknowledge the position of the mobile robot and avoid obstacles successfully via a double positioning system for adjusting the navigational parameters in real-time. Garibeh et al (2019) have proposed the path planning of mobile robots based on the positive and negative forces from the final target and the obstacles in the cluttered environment.…”

Section: Introductionmentioning

confidence: 99%

Dynamic walking of multi-humanoid robots using BFGS Quasi-Newton method aided artificial potential field approach for uneven terrain

Kashyap

Parhi

2022

Soft Comput

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The humanoid robot garners paramount interest because of its ability to mimic human-like behavior in realtime environments. In this paper, a hybridized Artificial Potential Field (APF)-Broyden Fletcher Goldfarb Shanno (BFGS) Quasi-Newton technique is being proposed for the trajectory planning of the humanoid robot. The proposed methodology combines the faster local search BFGS Quasi-Newton method with the global search APF method for an efficient and faster-hybridized trajectory planning technique. The humanoid robot herein is being tested in a multi-humanoid working space having uneven surfaces. The data obtained from the sensors concerning the location of obstacles and the target are at first imparted to the APF method, which supplies an intermediate turning angle dependent on the predesigned training model of the APF method. The obtained turning angle is then fed into the BFGS quasi-newton method to produce an optimum turning angle, which inevitably guides the humanoid robots to the target by keeping a minimum safe distance from the obstacles. Multi-humanoid robots are employed in an environment having random static obstacles, with unique targets for them to reach. The proposal of using a multihumanoid system arises the chance of inter-collision among the humanoids. To get rid of this situation, the dining philosophers controller is being implemented. The simulations and experiments are carried using the proposed technique to ratify the efficacy of the proposed technique. The experimental and simulation results yield a suitable acceptance rate under 5 %. In comparison with the previously used navigational technique, it proves to be comfortably skillful and robust for the trajectory planning of the humanoid robot.

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Section: Introductionmentioning

confidence: 99%

Dynamic walking of multi-humanoid robots using BFGS Quasi-Newton method aided artificial potential field approach for uneven terrain

Kashyap

Parhi

2022

Soft Comput

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Dynamic walking of multi-humanoid robots using BFGS Quasi-Newton method aided Artificial potential field approach for uneven terrain

Kashyap

Parhi

2022

Preprint

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The humanoid robot garners paramount interest because of its ability to mimic human-like behavior in real-time environments. In this paper, a hybridized Artificial Potential Field (APF)-Broyden Fletcher Goldfarb Shanno (BFGS) Quasi-Newton technique is being proposed for the trajectory planning of the humanoid robot. The proposed methodology combines the faster local search BFGS Quasi-Newton method with the global search APF method for an efficient and faster-hybridized trajectory planning technique. The humanoid robot herein is being tested in a multi-humanoid working space having uneven surfaces. The data obtained from the sensors concerning the location of obstacles and the target are at first imparted to the APF method, which supplies an intermediate turning angle dependent on the predesigned training model of the APF method. The obtained turning angle is then fed into the BFGS quasi-newton method to produce an optimum turning angle, which inevitably guides the humanoid robots to the target by keeping a minimum safe distance from the obstacles. Multi-humanoid robots are employed in an environment having random static obstacles, with unique targets for them to reach. The proposal of using a multi-humanoid system arises the chance of inter-collision among the humanoids. To get rid of this situation, the dining philosophers controller is being implemented. The simulations and experiments are carried using the proposed technique to ratify the efficacy of the proposed technique. The experimental and simulation results yield a suitable acceptance rate under 5 %. In comparison with the previously used navigational technique, it proves to be comfortably skillful and robust for the trajectory planning of the humanoid robot.

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Mobile Robot Localization Evaluations with Visual Odometry in Varying Environments Using Festo-Robotino

Abdo

Ibrahim

Rawashdeh

2020

SAE Technical Paper Series

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A Potential Field Simulation Study for Mobile Robot Path Planning in Dynamic Environments

Cited by 3 publications

References 8 publications

Dynamic walking of multi-humanoid robots using BFGS Quasi-Newton method aided artificial potential field approach for uneven terrain

Dynamic walking of multi-humanoid robots using BFGS Quasi-Newton method aided artificial potential field approach for uneven terrain

Dynamic walking of multi-humanoid robots using BFGS Quasi-Newton method aided Artificial potential field approach for uneven terrain

Mobile Robot Localization Evaluations with Visual Odometry in Varying Environments Using Festo-Robotino

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