TY - GEN
T1 - Relative angle based obstacle-avoidance
AU - Wang, Xiaohua
AU - Liang, Yan
AU - Hu, Jinwen
AU - Zhao, Chunhui
N1 - Publisher Copyright:
© 2015 Technical Committee on Control Theory, Chinese Association of Automation.
PY - 2015/9/11
Y1 - 2015/9/11
N2 - The Local Minima (LM) is the main problem of well-known artificial potential field (APF) method in the scope of obstacle avoidance. In this paper, we prove the existence of the local minima, which causes the unavoidable collision. Furthermore the concept of relative angle is added in repulsion calculation which makes repulsion change with angle among destination, the robot and obstacles. In addition, a hybrid path planning method, called RRT-APF, is proposed through first calculating circumvention point by the modified APF with the relative angle and then generating obstacle-free path via Rapid-exploring Random Tree (RRT). The method not only preserves the efficient search of RRT, but also decreases the randomness of RRT. Simulation results demonstrate that ADAPF is valid on collinear local minima problem. Moreover, in terms of planning time consumption and minimum distance, the proposed RRT-APF method is superior to both RRT and APF.
AB - The Local Minima (LM) is the main problem of well-known artificial potential field (APF) method in the scope of obstacle avoidance. In this paper, we prove the existence of the local minima, which causes the unavoidable collision. Furthermore the concept of relative angle is added in repulsion calculation which makes repulsion change with angle among destination, the robot and obstacles. In addition, a hybrid path planning method, called RRT-APF, is proposed through first calculating circumvention point by the modified APF with the relative angle and then generating obstacle-free path via Rapid-exploring Random Tree (RRT). The method not only preserves the efficient search of RRT, but also decreases the randomness of RRT. Simulation results demonstrate that ADAPF is valid on collinear local minima problem. Moreover, in terms of planning time consumption and minimum distance, the proposed RRT-APF method is superior to both RRT and APF.
KW - Artificial Potential Field
KW - Collision Avoidance
KW - Path Planning
UR - http://www.scopus.com/inward/record.url?scp=84946552408&partnerID=8YFLogxK
U2 - 10.1109/ChiCC.2015.7260498
DO - 10.1109/ChiCC.2015.7260498
M3 - 会议稿件
AN - SCOPUS:84946552408
T3 - Chinese Control Conference, CCC
SP - 5491
EP - 5496
BT - Proceedings of the 34th Chinese Control Conference, CCC 2015
A2 - Zhao, Qianchuan
A2 - Liu, Shirong
PB - IEEE Computer Society
T2 - 34th Chinese Control Conference, CCC 2015
Y2 - 28 July 2015 through 30 July 2015
ER -