Potential field methods and their inherent limitations for mobile robot navigation
Top Cited Papers
- 10 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1398-1404 vol.2
- https://doi.org/10.1109/robot.1991.131810
Abstract
Based on a rigorous mathematical analysis, the authors present a systematic overview and a critical discussion of the inherent problems of potential field methods (PFMs). The authors previously (1989) developed a PFM called the virtual force field (VFF) method. Much insight has been gained into the strengths and weaknesses of this method. Four distinct drawbacks with PFMs are identified. Because of these drawbacks, the authors abandoned potential field methods and developed a new method for fast obstacle avoidance. This method, called the vector field histogram method, produces smooth, nonoscillatory motion, while sampling time and hardware are identical to those used in the VFF method.Keywords
This publication has 7 references indexed in Scilit:
- Real-time obstacle avoidance for manipulators and mobile robotsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- High resolution maps from wide angle sonarPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Real-time obstacle avoidance for fast mobile robots in cluttered environmentsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Real-time obstacle avoidance for fast mobile robotsIEEE Transactions on Systems, Man, and Cybernetics, 1989
- Motor Schema — Based Mobile Robot NavigationThe International Journal of Robotics Research, 1989
- A robust layered control system for a mobile robotIEEE Journal on Robotics and Automation, 1986
- Integrated path planning and dynamic steering control for autonomous vehiclesPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1986