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| Content Provider | IET Digital Library |
|---|---|
| Author | Choe, Tok Son Park, Jin Bae Joo, Sang Hyun Park, Yong Woon |
| Abstract | A one-dimensional (1D) virtual force field (VFF) algorithm for real-time reflexive local path planning of mobile robots is proposed. The 1D-VFF is composed of the virtual steering, obstacle and integrated force fields (IFFs). The steering force field (SFF) is generated by the local or global goal position. This SFF leads a mobile robot to the goal. The obstacle force field (OFF) is created by the raw data of a range measurement sensor (RMS). By this OFF, a mobile robot avoids obstacles. The IFF is produced by combining the steering and OFFs in which weights between 0 and 1 are multiplied. Through this IFF, a final steering command by which a mobile robot reaches a goal by avoiding obstacles is generated. Various simulations compare the performance of the proposed 1D-VFF with the weighted virtual tangential vector (WVTV), which is the recently suggested local path planning method to overcome the U-shaped enclosure problem. |
| Starting Page | 1429 |
| Ending Page | 1430 |
| Page Count | 2 |
| ISSN | 00135194 |
| Volume Number | 50 |
| e-ISSN | 1350911X |
| Issue Number | Issue 20, Sep (2014) |
| Alternate Webpage(s) | https://digital-library.theiet.org/content/journals/el/50/20 |
| Alternate Webpage(s) | https://digital-library.theiet.org/content/journals/10.1049/el.2014.2787 |
| Journal | Electronics Letters |
| Publisher Date | 2014-09-12 |
| Access Restriction | Open |
| Rights Holder | © The Institution of Engineering and Technology |
| Subject Keyword | 1D-VFF 1D-virtual Force Field Algorithm Collision Avoidance Integrated Force Field Mobile Robots Obstacle Force Field OFF Range Measurement Sensor Reflexive Local Path Planning Spatial Variables Control Steering Force Field Steering System Virtual Steering Weighted Virtual Tangential Vector |
| Content Type | Text |
| Resource Type | Article |
| Subject | Electrical and Electronic Engineering |
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