Optimal motion planning for mobile robot based on potential fields

被引：0

作者：

Dong, LZ ^{[1
]}

Sun, MX ^{[1
]}

Dong, ZL ^{[1
]}

机构：

[1] Shenyang Univ Technol, Sch Informat Sci & Engg, Shenyang 110023, Peoples R China

来源：

PROCEEDINGS OF THE 4TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-4 | 2002年

关键词：

mobile robot; potential field; optimal control; motion planning;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper addresses motion planning for mobile robot in a dynamic environment with multiple moving obstacles. A novel motion planning strategy based on potential field and optimal control theory is presented for mobile robots to solve the problem of navigation and obstacles avoidance. Simulation results are presented to show fine real-time property, avoid the obstacles effectively and almost arrive at the goal on time.

引用

页码：1153 / 1156

页数：4