Robot path planning based on artificial potential field approach with simulated annealing

被引：0

作者：

Zhu, Qidan ^{[1
]}

Yan, Yongjie ^{[1
]}

Xing, Zhuoyi ^{[1
]}

机构：

[1] Harbin Engn Univ, Coll Automat, Harbin, Peoples R China

来源：

ISDA 2006: SIXTH INTERNATIONAL CONFERENCE ON INTELLIGENT SYSTEMS DESIGN AND APPLICATIONS, VOL 2 | 2006年

关键词：

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

The artificial potential field (APF) approach provides a simple and effective motion planning method for Practical purpose. However, artificial potential field approach has a major problem, which is that the robot is easy to be trapped at a local minimum before reaching its,goal. The avoidance of local minimum has been an active research topic in path planning by potential field. In this paper, we introduce several methods to solve this problem, emphatically, introduce and evaluate the artificial potential field approach with simulated annealing (SA). As one of the powerful techniques for escaping local minimum, simulated annealing has been applied to local and global path planning..

引用

页码：622 / +

页数：2

共 20 条

[11] Khosla P., 1988, Proceedings of the 1988 IEEE International Conference on Robotics and Automation (Cat. No.88CH2555-1), P1778, DOI 10.1109/ROBOT.1988.12323
[12] OPTIMIZATION BY SIMULATED ANNEALING
KIRKPATRICK, S
GELATT, CD
VECCHI, MP
[J]. SCIENCE, 1983, 220 (4598) : 671 - 680
[13] LOPES G, 2003, REAL TIME BSP BASED
[14] PARK MG, 2002, SICE 2002
[15] PRUSKY A, 1996, ROBOTIQUE MOBILE
[16] THE CONSTRUCTION OF ANALYTIC DIFFEOMORPHISMS FOR EXACT ROBOT NAVIGATION ON STAR WORLDS
RIMON, E
KODITSCHEK, DE
[J]. PROCEEDINGS - 1989 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOL 1-3, 1989, : 21 - 26
[17] RIMON E, 1990, P IEEE INT C ROB AUT, P1937
[18] MANIPULATOR CONTROL WITH SUPERQUADRIC ARTIFICIAL POTENTIAL FUNCTIONS - THEORY AND EXPERIMENTS
VOLPE, R
KHOSLA, P
[J]. IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS, 1990, 20 (06): : 1423 - 1436
[19] Yang S. X., 2001, IEEE T SYSTEMS MAN B, V31
[20] ZHANG HL, 2002, J QIQIHAR U, V18

← 1 2 →