NDLI: Escaping route method for a trap situation in local path planning

Content Provider	Springer Nature Link
Author	Kim, Dong Hun
Copyright Year	2009
Abstract	This paper introduces a new framework for escaping from a local minimum in path planning based on artificial potential functions (APFs). In particular, this paper presents a set of analytical guidelines for designing potential functions to avoid local minima in a trap situation (in this case, the robot is trapped in a local minimum by the potential of obstacles). The virtual escaping route method is proposed to allow a robot to escape from a local minimum in a trap situation where the total forces are composed of repulsive forces by obstacles and attractive force by a goal are zero. The example results show that the proposed scheme can effectively construct a path planning system with the capability of reaching a goal and avoiding obstacles, despite a trapped situation under possible local minima.
Starting Page	495
Ending Page	500
Page Count	6
File Format	PDF
ISSN	15986446
Journal	International Journal of Control, Automation and Systems
Volume Number	7
Issue Number	3
Language	English
Publisher	Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
Publisher Date	2009-05-30
Publisher Place	Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Local minimum narrow passage path planning potential function Control Robotics Mechatronics
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications

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Escaping route method for a trap situation in local path planning