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Global path planning using artificial potential fields
Proceedings, 1989 International Conference on Robotics and Automation, 2003The author describes a path planning technique for robotic manipulators and mobile robots in the presence of stationary obstacles. The planning consists of applying potential fields around configuration-space obstacles and using these fields to select a safe path for the robot to follow.
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Non-trap Artificial Potential Field Based on Virtual Obstacle
2019 IEEE 16th International Conference on Networking, Sensing and Control (ICNSC), 2019This paper first describes the inherent problems of artificial potential field and analyzes their causes. Then, aiming at the problem of local minimum trap, the virtual obstacle method is proposed to repel mobile robot from traps. Next, in order to solve the chattering phenomenon, a geometric method is proposed to ensure that the route is relatively ...
T. D. Chen, Y. Y. Huang
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Trajectory generation using time scaled artificial potential field
Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190), 2002A trajectory generation method for the dynamic control of robots is proposed. The method is developed by introducing the combination of a time scale transformation with a time base generator into the artificial potential field approach. This method can actively control the dynamic behavior of the robot without any change of the form of the designed ...
Yoshiyuki Tanaka +3 more
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PReWAP: Predictive Redirected Walking Using Artificial Potential Fields
2019 IEEE Conference on Virtual Reality and 3D User Interfaces (VR), 2019In predictive redirected walking applications, planning the redirection and path prediction are crucial for a safe and effective redirection. Common predictive redirection algorithms require many simplifications and limitations concerning the real and the virtual environments to achieve a real-time performance.
Christian Hirt +2 more
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Artificial Potential Fields for Autonomous Cluster Keeping
2020In recent years the concepts of distributed systems and fractionation spread considerably, as they allow the replacement of a single monolithic spacecraft with multiple smaller ones. The desire for such a design transformation stems from the many limitations that are associated with the traditional monolithic option and can be instead overcome through ...
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Trajectory Planning Using Artificial Potential Fields with Metaheuristics
IEEE Latin America Transactions, 2020The use of industrial robots has grown over the years, making production systems increasingly efficient. Within this context, some limitations appear that can delay the productive process causing damages to the production. These limitations are robot stops, for example.
Josias Batista +6 more
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Assessment of Artificial Potential Field methods for navigation of planetary rovers
2009 European Control Conference (ECC), 2009The lack of research into Artificial Potential Field (APF) applications for planetary exploration drove the authors to put forward the following question: Can APF methods be used for autonomous navigation (path planning and control) of a surface robot in realistic planetary exploration scenarios?
Dario L. Sancho-Pradel +1 more
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Visual based path planning with adaptive artificial potential field
2017 25th Signal Processing and Communications Applications Conference (SIU), 2017In this study, extracting a path plan has been aimed by using vision based and potential field methods together for a static obstacle hosted environment. Path extracting operations have been executed on image frame taken from real environment with eye-out-device configuration.
Emrah Donmez +2 more
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An Optimized Method for Path Planning Based on Artificial Potential Field
Sixth International Conference on Intelligent Systems Design and Applications, 2006The artificial potential field (APF) method provides simple and effective motion planner for practical purpose though it has its inherent disadvantages: local minima and oscillations in the presence of obstacles .This paper put forward a new method for improving the disadvantages of the path planning based on traditional APF.
Bing Zhang, Wanmi Chen, Minrui Fei
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Predictive Multiuser Redirected Walking Using Artificial Potential Fields
2023Virtual Reality applications are commonly qualitatively assessed in the subjective perception of presence, which describes how strongly a user feels truly engulfed by the virtual environment generated around them. In this regard, locomotion and interaction with their respectively intuitive implementation form a foundation on how well a user accepts the
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