Adaptive artificial potential field method for small autonomous vehicles [PDF]
Robotics and Autonomous SystemsArtificial Potential Field (APF) is one of the path planning and obstacle avoidance methods used for its simplicity and effectiveness. The goal’s attractive force and the obstacles’ repulsive forces are modeled and considered to act upon the vehicle or robot. However, in practice, the classical APF faces challenges like local minima.
Kemal Ihsan Kilic +4 more
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Robot Local Path Planning Based on Improved Artificial Potential Field Method [PDF]
Jisuanji gongchengThis study proposes an improved Artificial Potential Field (APF) algorithm (called FC-V-APF) based on Fuzzy Control (FC) and a virtual target point method to solve the local minimum trap and path redundancy issues of the APF method in robot local path ...
ZHANG Guosheng, LI Caihong, ZHANG Yaoyu, ZHOU Ruihong, LIANG Zhenying
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Global path guided vehicle obstacle avoidance path planning with artificial potential field method
IET Cyber-systems and Robotics, 2023 An artificial potential field method based on global path guidance (G‐APF) is proposed for target unreachability and local minima problems of the conventional artificial potential field (APF) method in complex environments with dynamic obstacles.
Yangde Chen +3 more
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A Hybrid Path Planning Method for Mobile Robot Based on Artificial Potential Field Method [PDF]
, 2019 This paper proposes a hybrid path planning method based on artificial potential field method (APF) for mobile robot, which combines wall following method (WFM) and obstacles connecting method (OCM) for dealing with local minimum. The environment information is took into consideration to decide the escape direction of WFM.
Haiyi Kong +3 more
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An Improved Artificial Potential Field Escape Method with Weight Adjustment
Journal of Physics: Conference Series, 2021 Abstract Aiming at the problems of obstacle avoidance and bullet avoidance during the patrol swarm, this paper analyzed the defects of the classical artificial potential field, proposed an adjustable escape method, which establish the relationship between the adjustment coefficient and the distance.
Hongyun Wang +4 more
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Improved Artificial Potential Field Method for Dual-manipulator Path Planning Algorithm
Jixie chuandong, 2021 Aiming at the problem that the traditional artificial potential field method cannot constrain the overall posture of the dual manipulator system when planning the path of the dual manipulator system，and it is easy to fall into the local extreme point，the
Haonan Ma, Zhian Zhang, Qingliang Li
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An improved route planning algorithm for unmanned aerial vehicle based on artificial potential field
Journal of Hebei University of Science and Technology, 2017 In order to improve the precision and accuracy of artificial potential field, and avoid the situation of hovering on the end point and being caught in minimum value, a path planning algorithm based on artificial potential algorithm for unmanned aerial ...
Ran ZHEN, Shibo ZHEN, Xueli WU
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Research on path planning of multi-rotor UAV based on improved artificial potential field method [PDF]
MATEC Web of Conferences, 2021 UAV needs sensor to fly in an environment with obstacles. However, UAV may not be able to move forward when it encounters a large obstacle, or UAV will be in a dangerous state when the sensor fails briefly which disturbed by the environment factors.
Liu Zhengqing, Wang Xinhua, Li Kangyi
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Obstacle Avoidance Path Planning for UAV Based on Artificial Potential Field Improved by Collision Cone [PDF]
Jisuanji gongcheng, 2018 In order to solve the problem that the artificial potential field method for Unmanned Aerial Vehicle (UAV) flight path planning is easy to fall into the local optimal and jitter in the narrow channel,a path planning algorithm based on potential field ...
XIONG Chao,XIE Wujie,DONG Wenhan
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Improved Artificial Potential Field Method for Robotic Path Planning
, 2020 Determination of a collision free path for a robot between start and goal positions through obstacles cluttered in a workspace is central to the design of an autonomous robot path planning.
Bhattacharyya, Soham
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