Dead-lock free mobile robot navigation using modified artificial potential field

An Overview of Nature-Inspired, Conventional, and Hybrid Methods of Autonomous Vehicle Path Planning

“…The algorithm of APF comprises the attractive force, repulsive potential force, and the total potential force. APF algorithm using Gaussian function as in [50] can be expressed as shown in the following:…”

Two-dimensional obstacle avoidance control algorithm for snake-like robot in water based on immersed boundary-lattice Boltzmann method and improved artificial potential field method

“…By establishing the virtual potential field in space, the obstacle avoidance of the robot can be realized. However, the APF method cannot avoid the defect of local minimum, which leads to the phenomenon of local oscillation of the robots (Montiel et al, 2015; Weerakoon et al, 2014). Lidar control method can take into account both accuracy and speed requirements, which is particularly applicable to the field of a snake-like robots (Ye and Borenstein, 2002).…”

“…A fluid-solid coupling model between the snake-like robot and the flow field is established. The curvature equation of the serpentine curve is optimized, which makes up for the deficiency of the local minimum of the APF and realizes the snake-like robot’s steady obstacle avoidance in fluid (Weerakoon et al, 2014). Firstly, in the stage of establishing underwater 2-D flow field model, the lattice Boltzmann method is introduced to replace the Navier-Stokes equation of traditional fluid calculation from the perspective of probability, which solves the problem of non-linear fluid which is difficult to explain by Navier-Stokes equation.…”

“…It uses a set of independent non-body-fitted grids to change complex boundary into internal force in the flow field, and achieves fluid-structure coupling control between underwater non-linear state feedback and robots. Finally, the APF method is improved to optimize the curvature equation of the snake-shaped curve, which solves the defect of the local minimum of the classical APF method, and greatly improves the stability and accuracy of the obstacle avoidance control algorithm (Liu et al, 1996; Weerakoon et al, 2014).…”

“…Besides, it solves the problem of non-linear that calculus cannot explain stochastic control. The main contribution of this paper is to design a fluid-structure coupling control method with underwater non-linear state feedback, which overcomes the defect of local minimum of APF method, optimizes the curvature equation of snake-like curve and realizes obstacle avoidance control of the snake-like robot in fluid (Weerakoon et al, 2014). By analyzing the influences of different control parameters on obstacle avoidance performance of the snake-like robot, the optimal parameters of underwater obstacle avoidance of snake-like robots are found to improve the stability and rapidity of the whole system.…”