A new APF strategy for path planning in environments with obstacles

Mechanism and Machine Theory

Volumn 40, Issue 6, 2005, Pages 645-658

  Agirrebeitia, Josu ^a   Avilés, Rafael ^a   De Bustos, Igor F ^a   Ajuria, Goizalde ^a  

^a UNIVERSITY OF THE BASQUE COUNTRY UPV EHU   (Spain)

Author keywords

Artificial potential fields; Obstacle avoidance; Path planning; Quasi geodesic curve

Indexed keywords

GEOMETRY; GRAPH THEORY; MANIPULATORS; MATHEMATICAL MODELS; MOBILE ROBOTS; PROBLEM SOLVING; REAL TIME SYSTEMS; ROBOTICS;

ARTIFICIAL POTENTIAL FIELDS (APF); OBSTACLES AVOIDANCE; PATH PLANNING PROBLEMS; QUASI-GEODESIC CURVE;

MOTION PLANNING;

EID: 17644398224     PISSN: 0094114X     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.mechmachtheory.2005.01.006     Document Type: Article

References (22)

1. N.J. Nilsson, A mobile automaton: an application of artificial intelligence techniques, in: Proceedings of the 1st International Joint Conference on Artificial Intelligence, Washington, DC, 1969, pp. 509-520
2. C. Lin, C.K. Chen, and C.L. Chen Path planning and dynamic control of a redundant robot manipulator for conveyor tracking International Journal of Systems Science 30 5 1999 491 503
3. R. Kindel, D. Hsu, J.C. Latombe, S. Rock, Kinodynamic motion planning amidst moving obstacles, in: IEEE International Conference on Robotics and Automation, 2000
4. P. Vadakkepat, K. Chen Tan, W. Ming-Liang, Evolutionary artificial potential fields and their application in real time robot path planning, in: Proceedings of Congress of Evolutionary Computation (CEC2000), San Diego, 2000
5. S. Yang, and M. Meng An efficient neural network method for real-time motion planning with safety consideration Robotics and Autonomous Systems 32 2000 115 128
6. J.C. Latombe Robot motion planning 1991 Kluwer Academic Publishers Norwell, MA
7. A.Y. Zomaya, M.R. Wright, and T.M. Nabham On the path planning problem in the vicinity of obstacles Cybernetics and Systems: An International Journal 29 1998 807 868
8. T.A. Harden, The implementation of artificial potential field based obstacle avoidance for a redundant manipulator, Ph.D. Thesis, University of Texas at Austin, December 1997
9. T. Chatroux, Algorithmes génétiques parallèles pour la planification de trajectoires de robots en environnement dynamique, Ph.D. Thesis, Conservatoire National des Arts et Métiers Centre Régional Associé de Grenoble, 9 Décembre 1993
10. R. Sreedar, D. Tesar, Potential function based obstacle avoidance algorithm for manipulators with extra degree of freedom, University of Texas at Austin, Report to the US Department of Energy under Grant No. DE-FG02-86NE37966, August 1990
11. O. Kathib Real-time obstacle avoidance for manipulators and mobile robots International Journal of Robotics Research 5 1 1986
12. R. Volpe, P. Khosla, Artificial potentials with elliptical isopotential contours for obstacle avoidance, in: Proceedings of the 26th Conference on Decision and Control, Los Angeles CA, December 1987
13. P. Khosla, R. Volpe, Superquadric artificial potentials for obstacle avoidance and approach, in: Proceedings of the 1988 IEEE International Conference on Robotics and Automation, Philadelphia PA, 1988, pp. 1778-1784
14. R. Volpe, and P. Khosla Manipulator control with superquadric artificial potential function: theory and experiments IEEE Transactions on Systems, Man, and Cybernetics. Special Issue on Unmanned Vehicles and Intelligent Systems 20 6 1990
15. D.E. Koditschek, Exact robot navigation by means of potential functions: some topological considerations, in: Proceedings of the IEEE International conference on robotics and automation, Raleigh, NC, 1987, pp.1-6
16. B. Faverjon, P. Tournassoud, A local based approach for path planning of manipulators with a high number of degrees of freedom, in: Proceedings of the IEEE International Conference on Robotics and Automation, Raleigh, NC, 1987, pp. 1152-1159
17. J. Barraquand, J.C. Latombe, Robot motion planning. A distributed representation approach, Report No. STAN-CS-89-1257, Departament of Computer Science, Standford University, 1989
18. J. Agirrebeitia, R. Avilés, I.F. de Bustos, and G. Ajuria Inverse position problem in highly redundant multibody systems in environments with obstacles Mechanism and Machine Theory 38 2003 1215 1235
19. J. Agirrebeitia, I.F. de Bustos, O. Altuzarra, R. Avilés, A method for the position analysis of high-redundant multibody systems in environments with obstacles, in: Proceedings of the WCSMO-4, Dalian, China, June 2001
20. R. Kimmel, and J.A. Sethian Computing geodesic paths on manifolds Proceedings of the National Academy of Sciences July 1997
21. K. Polthier, and M. Schmies Straightest geodesics on polyhedral surfaces Hege Mathematical visualisation 1998 Springer-Verlag 135 150
22. R. Kimmel, Curve evolution on surfaces, Ph.D. Thesis, Israel Institute of Technology, Iyar 5745, Haifa, May 1995