Comparison of geometrical, kinematic, and dynamic performance of several potential field methods

Samer Charifa; Marwan U Bikdash

Comparison of geometrical, kinematic, and dynamic performance of several potential field methods

Samer Charifa
, Marwan U Bikdash

Computational Data Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

The artificial potential field (APF) approach is a widely used path-planning algorithm for robot navigation. The method in some of its variants is known to exhibit several difficulties such as entrapment in a local minimum. In this paper, we compare the behavior of several variants of APF methods with emphasis on the quality of path geometry, and velocity and acceleration profiles. We argue that great improvement results when globally consistent potential fields (such as distance to the target) are used in conjunction with boundary following algorithm.

Original language	English
Title of host publication	Southeastcon, 2009. SOUTHEASTCON’09. IEEE
Pages	18–23
State	Published - 2009

Cite this

@inproceedings{3bc359d31bea49dda4e2b83ea2dea5ed,

title = "Comparison of geometrical, kinematic, and dynamic performance of several potential field methods",

abstract = "The artificial potential field (APF) approach is a widely used path-planning algorithm for robot navigation. The method in some of its variants is known to exhibit several difficulties such as entrapment in a local minimum. In this paper, we compare the behavior of several variants of APF methods with emphasis on the quality of path geometry, and velocity and acceleration profiles. We argue that great improvement results when globally consistent potential fields (such as distance to the target) are used in conjunction with boundary following algorithm.",

author = "Samer Charifa and Bikdash, \{Marwan U\}",

year = "2009",

language = "English",

pages = "18–23",

booktitle = "Southeastcon, 2009. SOUTHEASTCON{\textquoteright}09. IEEE",

}

TY - GEN

T1 - Comparison of geometrical, kinematic, and dynamic performance of several potential field methods

AU - Charifa, Samer

AU - Bikdash, Marwan U

PY - 2009

Y1 - 2009

N2 - The artificial potential field (APF) approach is a widely used path-planning algorithm for robot navigation. The method in some of its variants is known to exhibit several difficulties such as entrapment in a local minimum. In this paper, we compare the behavior of several variants of APF methods with emphasis on the quality of path geometry, and velocity and acceleration profiles. We argue that great improvement results when globally consistent potential fields (such as distance to the target) are used in conjunction with boundary following algorithm.

AB - The artificial potential field (APF) approach is a widely used path-planning algorithm for robot navigation. The method in some of its variants is known to exhibit several difficulties such as entrapment in a local minimum. In this paper, we compare the behavior of several variants of APF methods with emphasis on the quality of path geometry, and velocity and acceleration profiles. We argue that great improvement results when globally consistent potential fields (such as distance to the target) are used in conjunction with boundary following algorithm.

M3 - Conference contribution

SP - 18

EP - 23

BT - Southeastcon, 2009. SOUTHEASTCON’09. IEEE

ER -

Comparison of geometrical, kinematic, and dynamic performance of several potential field methods

Abstract

Fingerprint

Cite this