MOBILE ROBOT PATH PLANNING BASED ON HIERARCHICAL HEXAGONAL DECOMPOSITION AND ARTIFICIAL POTENTIAL FIELDS

被引：18
作者：
HOU, ESH
ZHENG, D
机构：
[1] Department of Electrical and Computer Engineering, New Jersey Institute of Technology, Newark, New Jersey
来源：
JOURNAL OF ROBOTIC SYSTEMS | 1994年 / 11卷 / 07期
关键词：
D O I：
10.1002/rob.4620110704
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this article, a new algorithm based on an artificial potential field and hierarchical cell decomposition technique is developed to solve the find-path problem for a mobile robot. The complete map of the workspace including obstacle locations is assumed to be known a priori. The basic cell structure used for decomposition is a hexagon. The artificial potential field is based on an attractive force from the goal position and repelling forces from the obstacles. Computer simulations of the algorithm for various obstacle scenarios are also presented. (C) 1994 John Wiley & Sons, Inc.
引用
收藏
页码：605 / 614
页数：10
相关论文
共 50 条
  • [41] Local path planning for mobile robot using artificial neural network - Potential field algorithm
    Park, Jong-Hun
    Huh, Uk-Youl
    Transactions of the Korean Institute of Electrical Engineers, 2015, 64 (10) : 1479 - 1485
  • [42] An Improved Artificial Potential Field Method for Path Planning of Mobile Robot with Subgoal Adaptive Selection
    Lin, Zenan
    Yue, Ming
    Wu, Xiangmin
    Tian, Haoyu
    INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2019, PT I, 2019, 11740 : 211 - 220
  • [43] A New Adaptive Artificial Potential Field and Rolling Window Method for Mobile Robot Path Planning
    Zhang, Yalong
    Liu, Zhenghua
    Chang, Le
    2017 29TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC), 2017, : 7144 - 7148
  • [44] Global Path Planning Algorithm of Mobile Robot Based on Electric Potential Field
    Wan F.
    Zhou F.
    Yin L.
    Wang Y.
    Chen K.
    Shen D.
    Jiqiren/Robot, 2019, 41 (06): : 742 - 750
  • [45] Robot path planning based on artificial potential field approach with simulated annealing
    Zhu, Qidan
    Yan, Yongjie
    Xing, Zhuoyi
    ISDA 2006: SIXTH INTERNATIONAL CONFERENCE ON INTELLIGENT SYSTEMS DESIGN AND APPLICATIONS, VOL 2, 2006, : 622 - +
  • [46] Robot path planning based on three-dimensional artificial potential field
    Lin, Hsien-, I
    Shodiq, Muhammad Ahsan Fatwaddin
    Hsieh, Ming Feng
    ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE, 2025, 144
  • [47] Path planning and smoothing of mobile robot based on improved artificial fish swarm algorithm
    Fei-Fei Li
    Yun Du
    Ke-Jin Jia
    Scientific Reports, 12
  • [48] Sensor-Based Incremental Boustrophedon Decomposition for Coverage Path Planning of a Mobile Robot
    Batsaikhan, Dugarjav
    Janchiv, Adiyabaatar
    Lee, Soon-Geul
    INTELLIGENT AUTONOMOUS SYSTEMS 12, VOL 1, 2013, 193 : 621 - 628
  • [49] Mobile Robot Path Planning Using Polyclonal-Based Artificial Immune Network
    Deng, Lixia
    Ma, Xin
    Gu, Jason
    Li, Yibin
    JOURNAL OF CONTROL SCIENCE AND ENGINEERING, 2013, 2013
  • [50] Path planning and smoothing of mobile robot based on improved artificial fish swarm algorithm
    Li, Fei-Fei
    Du, Yun
    Jia, Ke-Jin
    SCIENTIFIC REPORTS, 2022, 12 (01)
12345