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Local-Minimum-Free Artificial Potential Field Method for Obstacle Avoidance
2021In this paper we present a new formulation of the local minimum problem which characterizes the artificial potential field method for obstacle avoidance. Our approach consists of detecting the local-minimum situation by measuring the angle formed by the two force vectors (repulsive force and attractive force vectors). Afterward, we suggest adding a new
Abbes Tahri, Lakhdar Guenfaf
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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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Improvement of Ant Colony Method Track Planning Based on Artificial Potential Field Method
2020 16th International Conference on Control, Automation, Robotics and Vision (ICARCV), 2020In this paper, Ant Colony Method is combined with Artificial Potential Field Method, to propose a new optimization method to enhance the robustness of t original algorithm. The core of new algorithm is aim to improve original path planning of ant colony method by using artificial potential field method, and to complete the allocation of primary data of
Yanze Zhu, Rong Ma, Yihong Quan
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Obstacle Avoidance of Manipulators Based on Improved Artificial Potential Field Method
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2019Obstacle avoidance is a key problem of robot motion planning. This paper introduces an improved method to realize obstacle avoidance of manipulators based on artificial potential field method which offers a relatively fast and effective way to solve the problem.
Hao Li 0085, Zhiyang Wang, Yongsheng Ou
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A flight path planning method based on improved artificial potential field
2016 International Conference on Computer, Information and Telecommunication Systems (CITS), 2016With the increasing number of long range free flight, the flight path planning becomes an important issue. In this paper, the expected path is defined as linear potential field. The trajectory equation to determine maximum likelihood flight heading is established by calculating aircraft potential field gravitation of the trajectory at any space ...
Fanrong Sun, Songchen Han
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Path and posture planning for walking robots by artificial potential field method
IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, 2004Most of studies on path planning assume a wheeled robot as the vehicle. However, the robot is allowed to only make a detour for obstacle avoidance that often includes inefficiency. This research focuses that a walking robot has a high adaptation on irregular terrain and ability to transform the robot posture during walk.
Hiroshi Igarashi, Masayoshi Kakikura
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An obstacle avoidance strategy for complex obstacles based on artificial potential field method
Journal of Field Robotics, 2023AbstractWhen there are obstacles around the target point, the mobile robot cannot reach the target using the traditional artificial potential field (APF). Besides, the traditional APF is prone to local oscillation in complex terrain such as three‐point collinear or semiclosed obstacles. Aiming at solving the defects of traditional APF, a novel improved
Wei Zhang 0134 +3 more
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Formation control method based on artificial potential fields for aircraft flight simulation
SIMULATION, 2021As simulation becomes more present in the military context for variate purposes, the need for accurate behaviors is of paramount importance. In the air domain, a noteworthy behavior relates to how a group of aircraft moves in a coordinated way. This can be defined as formation flying, which, combined with a move-to-goal behavior, is the focus of this ...
Andre N. Costa +4 more
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Artificial potential field method for obstacle avoidance and lane keeping
Applied and Computational Engineering, 2023This paper uses artificial potential field method to solve obstacle avoidance and lane keeping of autonomous driving safety assistance systems. It focuses on the lane line, direction, car obstacle, and static obstacle, which the car must pay attention to on the road.
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Route planning based on improved artificial potential field method
2017 2nd Asia-Pacific Conference on Intelligent Robot Systems (ACIRS), 2017Aiming at the problem that the traditional artificial potential field (APF) can not adapt to the complex planning space and fall into the local optimal solution, an improved artificial potential field method is proposed for two-dimensional UAV route planning. This method does not consider the influence of traditional attraction and repulsive force, but
Liu Zhiyang, Jiang Tao
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