Pseudo-Bacterial Potential Field Based Path Planner for Autonomous Mobile Robot Navigation

Orozco-Rosas, Ulises; Montiel, Oscar; Sepúlveda, Roberto

doi:10.5772/60715

Cited by 32 publications

(20 citation statements)

References 28 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Generally speaking, the autonomous navigation process usually performs three main tasks, localization, mapping, and navigation, and every task plays an important role to the others. 8 In earlier times, some navigation methods, such as potential field methods, 9,10 topological navigation, 11,12 and so on, are applied frequently. Through these methods, a robot can achieve self-navigation easily, whereas these methods may have some shortcomings.…”

Section: Introductionmentioning

confidence: 99%

A novel fuzzy three-dimensional grid navigation method for mobile robots

Shi

Pan

et al. 2017

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

The objective of the autonomous navigation aims to achieve the self-motion control for a robot with the environmental feedbacks and becomes popular recently. Problems of complex modeling, large amount of calculation, and lacking of environmental information always exist in autonomous navigation methods. This article proposes a self-navigation method with a fuzzy three-dimensional grid depicted by dual two-dimensional grid maps. Meanwhile, a synthetic preprocess is presented to perform localization through switching among the weighted three-point localization method, the two-point localization method, and the weighted average localization method. For reducing the amount of calculation, an improved fuzzy three-dimensional grid mapping method where the three-dimensional map is described by dual two-dimensional grid maps, the identifier map, and the height map is designed. Especially, the static and dynamic information within the map are divided and updated fuzzily. The global path planning is performed with the static information, and the real-time obstacle avoidance is conducted with the dynamic information. The results of simulations and experiments demonstrate that the proposed method has better properties in efficiency of navigation and lower amount of calculation than the competing methods.

show abstract

Section: Introductionmentioning

confidence: 99%

A novel fuzzy three-dimensional grid navigation method for mobile robots

Shi

Pan

et al. 2017

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

show abstract

“…This method defines potential functions of goal position and obstacles position and generates the direction of motion. 11 In general, a potential field is a vector field obtained by applying a gradient operator as a function. The reference position of robot is evaluated using the higher value of potential as the goal value, which is also the global minimum of potential.…”

Section: Generating Of Path For Head and Rear Linkmentioning

confidence: 99%

An inspection of pipe by snake robot

Trebuňa

Virgala

Pástor

et al. 2016

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

The article deals with development and application of snake robot for inspection pipes. The first step involves the introduction of a design of mechanical and electrical parts of the snake robot. Next, the analysis of the robot locomotion is introduced. For the curved pipe, potential field method is used. By this method, the system is able to generate path for the head and rear robot, linking the environment with obstacles, which are represented by the walls of the pipe. Subsequently, the solution of potential field method is used in inverse kinematic model, which respects tasks as obstacle avoidance, joint limit avoidance, and singularity avoidance. Mentioned approach is then tested on snake robot in provisional pipe with rectangular cross section. For this research, software Matlab (2013b) is used as the control system in cooperation with the control system of robot, which is based on microcontrollers. By experiments, it is shown that designed robot is able to pass through straight and also curved pipe.

show abstract

“…Usually, potential fields offer suboptimal solutions to the path planning problem, this because of the local minimum issue, as well as interactions between different potential fields. Trying to avoid local solutions, in [13] is proposed to use the so-called pseudo-bacterial genetic algorithm to guarantee an optimal and safe path for autonomous navigation, once more the goal is to obtain a safe path but knowledge of the obstacles is still required. To generate dynamic safe paths in presence of static and dynamic obstacles, in [5], is considered a heuristic-based method to search the feasible initial path efficiently, then the results are combined with an optimization algorithm for dynamic robot path planning.…”

Section: Introductionmentioning

confidence: 99%