An efficient improved artificial potential field based regression search method for robot path planning

Guanghui Li, Atsushi Yamashita, Hajime Asama, Yusuke Tamura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

65 Citations (Scopus)

Abstract

Path planning field for autonomous mobile robot is an optimization problem that involves computing a collision-free path between initial location and goal location. In this paper, we present an improved artificial potential field based regression search (Improved APF-based RS) method which can obtain a global sub-optimal/optimal path efficiently without local minima and oscillations in complete known environment information. We redefine potential functions to eliminate non-reachable and local minima problems, and utilize virtual local target for robot to escape oscillations. Due to the planned path by improved APF is not the shortest/approximate shortest trajectory, we develop a regression search (RS) method to optimize the planned path. The optimization path is calculated by connecting the sequential points which produced by improved APF. Amount of simulations demonstrate that the improved APF method very easily escape from local minima and oscillatory movements. Moreover, the simulation results confirm that our proposed path planning approach could always calculate a more global optimal/near-optimal, collision-free and safety path to its destination compare with general APF. That proves our improved APF-based RS method very feasibility and efficiency to solve path planning which is a NP-hard problem for autonomous mobile robot.

Original languageEnglish
Title of host publication2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012
Pages1227-1232
Number of pages6
DOIs
Publication statusPublished - 2012 Oct 23
Externally publishedYes
Event2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012 - Chengdu, China
Duration: 2012 Aug 52012 Aug 8

Publication series

Name2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012

Other

Other2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012
CountryChina
CityChengdu
Period12/8/512/8/8

Keywords

  • Artificial potential field
  • Autonomous mobile robot
  • Path planning
  • Regression search

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering

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  • Cite this

    Li, G., Yamashita, A., Asama, H., & Tamura, Y. (2012). An efficient improved artificial potential field based regression search method for robot path planning. In 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012 (pp. 1227-1232). [6283526] (2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012). https://doi.org/10.1109/ICMA.2012.6283526