Autonomous robot navigation using adaptive potential fields

Local Autonomous Robot Navigation using Potential Fields

The potential fields method for autonomous robot navigation consists essentially in the assignment of an attractive potential to the goal point and a repulsive potential to each of the obstacles in the environment. Several implementations of potential fields for autonomous robot navigation have been reported. The most simple implementation considers a known environment where fixed potentials ca...

Adaptive Sliding Mode Tracking Control of Mobile Robot in Dynamic Environment Using Artificial Potential Fields

Solution to the safe and collision-free trajectory of the wheeled mobile robot in cluttered environments containing the static and/or dynamic obstacle has become a very popular and challenging research topic in the last decade. Notwithstanding of the amount of publications dealing with the different aspects of this field, the ongoing efforts to address the more effective and creative methods is...

Forward Chaining for Robot and Agent Navigation using Potential Fields

Autonomous Robot Navigation using Genetic Algorithms

In this paper is presented a navigation scheme, based on a genetic algorithm, for autonomous robot navigation. Potential fields are used to attract the robot by the goal position and reject it by the obstacles. In the scheme presented here obstacles are automatically detected by simulated sonar sensors. The configuration of the optimum potential field is determined by the genetic algorithm. Int...

Predictive autonomous robot navigation

This paper considers the problem of a robot navigating in a crowded or congested environment. A robot operating in such an environment can get easily blocked by moving humans and other objects. To deal with this problem it is proposed to attempt to predict the motion trajectory of humans and obstacles. Two kinds of prediction are considered: short-term and long-term. The short-term prediction r...