Earticle

초록

영어

Navigation can be defined as moving a robot to a defined objective and avoiding undesirable situations (collision and unsafe conditions) simultaneously. In this work, a navigation technique based on Potential Field has been used to plan an optimal-safe path to pilot a mobile robot in known environment. The proposed techniques are based on extracting path by merging information from two potential maps: security potential, pulling back robot from obstacles, and slope potential attracting robot to target. Three planning techniques are proposed; weighting technique that gives equal importance to safety and nearest path yet changes importance to highlight attraction in conflict situations. Degraded technique, which is more favorable for cases where security is not often important, so superior weight is given to nearest path. The last technique is to integrate paths from the two previous techniques to have safe paths in some situations and have nearest path in other situations. Comparison between proposed techniques with addition to previous work (graph-based technique) has been done to discuss difference and possible optimizations. The proposed techniques have shown interesting results especially for complex environments with curved obstacles, which is not resolvable with graph based technique. Tests and implementation has been done using Matlab simulations and a real mobile robot with a bird's-eye view camera to discuss techniques and propose future work.

목차

Abstract
 1. Introduction
 2. Motion Planning Techniques
  2.1. Trapezoidal Decomposition
  2.2. Potential Fields
  2.3. Voronoï Diagram
  2.4. Visibility Graph
 3. Used Method
  3.1. Potential Propagation Algorithm
  3.2. Chain Coding
  3.3. Path Smoothing
  3.4. Mobile Robot Model
  3.5. Path Planning
  3.6. Planning Techniques
 4. Implementation
  4.1. Simulation
  4.2. Experimental Results
 5. Discussion
 6. Conclusion
 References

키워드

저자

• Adel Djellal [ Department of Electronics Badji Mokhtar University-Annaba, Department of Electronics and Telecommunication Kasdi Merbah University-Ouargla ]
• Dr. Rabah Lakel [ Department of Electronics Badji Mokhtar University-Annaba ]
• Randa Chergui [ Department of Electronics Badji Mokhtar University-Annaba ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605