Potential field methods and their inherent approaches for path planning
Path Planning is one of the vital aspects in autonomous system. In path planning, safety is important issue that should be taken into account in order to ensure a robot reaches at the target location without collision with surrounding obstacles. Moreover, there are important aspects that need to b...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Asian Research Publishing Network (ARPN)
2016
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| Subjects: | |
| Online Access: | http://eprints.uthm.edu.my/4496/1/AJ%202016%20%2847%29.pdf |
| _version_ | 1796869031778582528 |
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| author | Omar, Rosli Sabudin, E. N C. K., Che Ku Melor A., N. H |
| author_facet | Omar, Rosli Sabudin, E. N C. K., Che Ku Melor A., N. H |
| author_sort | Omar, Rosli |
| collection | UTHM |
| description | Path Planning is one of the vital aspects in autonomous system. In path planning, safety is important issue that
should be taken into account in order to ensure a robot reaches at the target location without collision with surrounding
obstacles. Moreover, there are important aspects that need to be addressed in path planning; computational time, optimal
path and completeness. One of the popular methods for path planning is Potential field. Potential filed method is capable to
overcome unknown scenario, taking into account the realities of the current environment of the robot motion. Two type of
forces involved in potential field method; attractive force generated by goals and repulsive force generated by obstacles.
However, this method has a major drawback due to local minima problem. This paper reviews the traditional artificial
potential field theory that has been modified with variety of algorithms based on potential field method that have been
implemented to upgrade the potential function performance in obstacle avoidance and local minima problem. |
| first_indexed | 2024-03-05T21:48:44Z |
| format | Article |
| id | uthm.eprints-4496 |
| institution | Universiti Tun Hussein Onn Malaysia |
| language | English |
| last_indexed | 2024-03-05T21:48:44Z |
| publishDate | 2016 |
| publisher | Asian Research Publishing Network (ARPN) |
| record_format | dspace |
| spelling | uthm.eprints-44962021-12-07T04:19:56Z http://eprints.uthm.edu.my/4496/ Potential field methods and their inherent approaches for path planning Omar, Rosli Sabudin, E. N C. K., Che Ku Melor A., N. H T Technology (General) TL500-777 Aeronautics. Aeronautical engineering Path Planning is one of the vital aspects in autonomous system. In path planning, safety is important issue that should be taken into account in order to ensure a robot reaches at the target location without collision with surrounding obstacles. Moreover, there are important aspects that need to be addressed in path planning; computational time, optimal path and completeness. One of the popular methods for path planning is Potential field. Potential filed method is capable to overcome unknown scenario, taking into account the realities of the current environment of the robot motion. Two type of forces involved in potential field method; attractive force generated by goals and repulsive force generated by obstacles. However, this method has a major drawback due to local minima problem. This paper reviews the traditional artificial potential field theory that has been modified with variety of algorithms based on potential field method that have been implemented to upgrade the potential function performance in obstacle avoidance and local minima problem. Asian Research Publishing Network (ARPN) 2016 Article PeerReviewed text en http://eprints.uthm.edu.my/4496/1/AJ%202016%20%2847%29.pdf Omar, Rosli and Sabudin, E. N and C. K., Che Ku Melor and A., N. H (2016) Potential field methods and their inherent approaches for path planning. ARPN Journal of Engineering and Applied Sciences, 11 (18). pp. 10801-10805. ISSN 1819-6608 |
| spellingShingle | T Technology (General) TL500-777 Aeronautics. Aeronautical engineering Omar, Rosli Sabudin, E. N C. K., Che Ku Melor A., N. H Potential field methods and their inherent approaches for path planning |
| title | Potential field methods and their inherent approaches for path planning |
| title_full | Potential field methods and their inherent approaches for path planning |
| title_fullStr | Potential field methods and their inherent approaches for path planning |
| title_full_unstemmed | Potential field methods and their inherent approaches for path planning |
| title_short | Potential field methods and their inherent approaches for path planning |
| title_sort | potential field methods and their inherent approaches for path planning |
| topic | T Technology (General) TL500-777 Aeronautics. Aeronautical engineering |
| url | http://eprints.uthm.edu.my/4496/1/AJ%202016%20%2847%29.pdf |
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