Earticle

초록

영어

Traditional artificial potential field method has the problem of local minimum and can not satisfy the requirements of real-time mobile robot path planning, security and accessibility in dynamic environment. To deal with the problems, through taking the advantage of velocity vector, modifying potential field force function, and integrating with the fuzzy control method, adjusting the factors of repulsion potential field in real time, a new method is proposed to overcome the shortcomings of artificial potential field method. To validate the proposed method, simulation experiments are conducted in MATLAB platform, and experimental results demonstrate that the performance of this proposed method is better than the traditional artificial potential field model.

목차

Abstract
 1. Introduction
 2. The Traditional Artificial Potential Field Method
 3. The Method of Dynamic Fuzzy Artificial Potential Field
  3.1. Modifying Potential Field Force Function
  3.2. The Adjustment of Coefficient of Repulsive Field
 4. Simulation Experiments and Results
  4.1. The Mobile Robot Path Planning with the Typical Location Relationship
  4.2. The Robot Path Planning in Special Movement State
 5. Conclusions
 References

키워드

저자

• Qiang Song [ Computer Department, Anyang Institute of Technology ]
• Lingxia Liu [ Computer Education Department, Anyang Normal University ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Hybrid Information Technology

• 간기

  격월간

• pISSN

  1738-9968

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605