Artificial Potential Field with Discrete Map Transformation for Feasible Indoor Path Planning
نویسندگان
چکیده
منابع مشابه
Path planning using potential field representation
Finding a safe, smooth, and efficient path to move an object through obstacles is necessary for object manipulation in robotics and automation. This paper presents an approach to twodimensional as well as threedimensional findpath problems that divides the problem into two steps. First, rough paths are found based only on topological information. This is accomplished by assigning to each obstac...
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Findpath problem is the problem of moving an object to the desired position and orientation while avoiding obstacles. We present an approach to this problem using a potential field representation of obstacles. A potential function similar to the electrostatic potential is assigned to each obstacle, and the topological structure of the free space is derived in the form of minimum potential valle...
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1 Multi-Robot Systems (MRS) Research Group, German University in Cairo, 5th Settlement New Cairo, 11432, Cairo, Egypt ---------------------------------------------------------------------***--------------------------------------------------------------------Abstract In this paper, a global off-line path planning approach is implemented using an energy-based approach Artificial Potential Field (...
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Path planning in a completely known environment has been experienced various ways. However, in real world, most humanoid robots work in unknown environments. Robots’ path planning by artificial potential field and fuzzy artificial potential field methods are very popular in the field of robotics navigation. However, by default humanoid robots lack range sensors; thus, traditional artificial pot...
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ژورنال
عنوان ژورنال: Applied Sciences
سال: 2020
ISSN: 2076-3417
DOI: 10.3390/app10248987