Dynamic Path Planning for Mobile Robots Using Fuzzy Potential Field Method

Woo, Kyoung-Sik; Park, Jong‐Hun; Huh, Uk-Youl

doi:10.5370/kiee.2012.61.2.291

Cited by 3 publications

(1 citation statement)

References 5 publications

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“…Several studies have examined real-time obstacle avoidance using techniques, such as vector field histogram (VFH) approach, curvature velocity method (CVM), and dynamic window approach (DWA), which have local minima that can be avoided with certain modifications [9][10][11]. The potential field method (PFM) has been proposed to generate an attraction force to the target and a repulsive force against an obstacle to determine the direction and velocity of the mobile robot [12][13][14][15][16][17][18].…”

Section: Introductionmentioning

confidence: 99%

Active Virtual Impedance Control for Sound-Following Robots to Avoid Obstacles

et al. 2019

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A novel active virtual impedance algorithm is here proposed to help sound-following robots avoid obstacles while tracking a sound source. The tracking velocity of a mobile robot to a sound source is determined by virtual repulsive and attraction forces to avoid obstacles and to follow the sound source, respectively. Active virtual impedance is defined as a function of distances and relative velocities to the sound source and obstacles from the mobile robot, which is used to generate the tracking velocity of the mobile robot. Conventional virtual impedance methods have fixed coefficients for relative distances and velocities. However, in this research, the coefficients are dynamically adjusted to extend the obstacle avoidance performance to multiple obstacle environments. The relative distances and velocities are obtained using a microphone array consisting of three microphones in a row. The geometrical relationships of the microphones are utilized to estimate the relative position and orientation of the sound source with respect to the mobile robot, which carries the microphone array. The effectiveness of the proposed algorithm is demonstrated by experiments.

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Section: Introductionmentioning

confidence: 99%

Active Virtual Impedance Control for Sound-Following Robots to Avoid Obstacles

et al. 2019

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Optimal path planning and analysis for the maximization of multi UAVs survivability for missions involving multiple threats and locations

정성식¹,

장대성²,

박현진³

et al. 2015

Journal of the Korean Society for Aeronautical & Space Scie

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This paper proposes a framework to determine the routes of multiple unmanned aerial vehicles (UAVs) to conduct multiple tasks in different locations considering the survivability of the vehicles. The routing problem can be formulated as the vehicle routing problem (VRP) with different cost matrices representing the trade-off between the safety of the UAVs and the mission completion time. The threat level for a UAV at a certain location was modeled considering the detection probability and the shoot-down probability. The minimal-cost path connecting two locations considering the threat level and the flight distance was obtained using the Dijkstra algorithm in hexagonal cells. A case study for determining the optimal routes for a persistent multi-UAVs surveillance and reconnaissance missions given multiple enemy bases was conducted and its results were discussed.

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Obstacle Avoidance of a Moving Sound Following Robot using Active Virtual Impedance

Han¹,

Park²,

Noh³

et al. 2014

Journal of Institute of Control, Robotics and Systems

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An active virtual impedance algorithm is newly proposed to track a sound source and to avoid obstacles while a mobile robot is following the sound source. The tracking velocity of a mobile robot to the sound source is determined by virtual repulsive and attraction forces to avoid obstacles and to follow the sound source, respectively. Active virtual impedance is defined as a function of distances and relative velocities to the sound source and obstacles from the mobile robot, which is used to generate the tracking velocity of the mobile robot. Conventional virtual impedance methods have fixed coefficients for the relative distances and velocities. However, in this research the coefficients are dynamically adjusted to elaborate the obstacle avoidance performance in multiple obstacle environments. The relative distances and velocities are obtained using a microphone array consisting of three microphones in a row. The geometrical relationships of the microphones are utilized to estimate the relative position and orientation of the sound source against the mobile robot which carries the microphone array. Effectiveness of the proposed algorithm has been demonstrated by real experiments.

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Dynamic Path Planning for Mobile Robots Using Fuzzy Potential Field Method

Cited by 3 publications

References 5 publications

Active Virtual Impedance Control for Sound-Following Robots to Avoid Obstacles

Active Virtual Impedance Control for Sound-Following Robots to Avoid Obstacles

Optimal path planning and analysis for the maximization of multi UAVs survivability for missions involving multiple threats and locations

Obstacle Avoidance of a Moving Sound Following Robot using Active Virtual Impedance

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