Global path planning using artificial potential fields
- 7 January 2003
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 316-321 vol.1
- https://doi.org/10.1109/robot.1989.100007
Abstract
The author describes a path planning technique for robotic manipulators and mobile robots in the presence of stationary obstacles. The planning consists of applying potential fields around configuration-space obstacles and using these fields to select a safe path for the robot to follow. The advantage of using potential fields in path planning is that they offer a relatively fast and effective way to solve for safe paths around obstacles. In the proposed method of path planning, a trial path is chosen and then modified under the influence of the potential field until an appropriate path is found. By considering the entire path, the problem of being trapped in a local minimum is greatly reduced, allowing the method to be used for global planning. The algorithm was tried with success on many different realistic planning problems. By way of illustration, the algorithm is applied to a two-dimensional revolute manipulator, a mobile robot capable of translation only, and a mobile robot capable of both translation and rotation.<>Keywords
This publication has 19 references indexed in Scilit:
- A strategy for obstacle avoidance and its application to mullti-robot systemsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Gross motion planning for a simple 3D articulated robot arm moving amidst unknown arbitrarily shaped obstaclesPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Least cost paths with algebraic cost functions. Part 1Published by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Exact robot navigation using cost functions: the case of distinct spherical boundaries in E/sup n/Published by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Using Backprojections for Fine Motion Planning with UncertaintyThe International Journal of Robotics Research, 1986
- Integrated path planning and dynamic steering control for autonomous vehiclesPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1986
- Robot motion planning with uncertainty in the geometric models of the robot and environment: A formal framework for error detection and recoveryPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1986
- Continuous motion planning in unknown environment for a 3D cartesian robot armPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1986
- Motion Planning with Six Degrees of Freedom. RevisionPublished by Defense Technical Information Center (DTIC) ,1984
- Symbolic Error Analysis and Robot PlanningThe International Journal of Robotics Research, 1982