A subgoal-guided force field method for robot navigation

Wang, D; Liu, DK; Kwok, NM; Waldron, KJ

A subgoal-guided force field method for robot navigation

Wang, D Liu, DK

Kwok, NM Waldron, KJ

Permalink

Publication Type:: Conference Proceeding
Citation:: 2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008, 2008, pp. 488 - 493
Issue Date:: 2008-12-01

Open Access

Copyright Clearance Process

Recently Added
In Progress
Open Access

This item is open access.

Adobe PDF

Download full textAdobe PDF (278 kB)

View on publisher's site

View statistics

Full metadata record

Field	Value	Language
dc.contributor.author	Wang, D	en_US
dc.contributor.author	Liu, DK https://orcid.org/0000-0002-1581-5582	en_US
dc.contributor.author	Kwok, NM	en_US
dc.contributor.author	Waldron, KJ https://orcid.org/0000-0002-7910-4907	en_US
dc.date.issued	2008-12-01	en_US
dc.identifier.citation	2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008, 2008, pp. 488 - 493	en_US
dc.identifier.isbn	9781424423682	en_US
dc.identifier.uri	http://hdl.handle.net/10453/10999
dc.description.abstract	Motion planning and collision avoidance functionality are crucial attributes to the successful deployment of mobile robots. This research analyzes some shortcomings of the canonical F2 method and then presents Subgoal-Guided Force-Field (SGF2) method to mitigate these drawbacks. In the proposed approach, a robot identifies openings in an environment in front of itself on the basis of sensor data. The midpoints of these openings are determined and selected as subgoal candidates. A cost function is then utilized to evaluate their suitability. One subgoal is then chosen and used by the F2 method to generate a steering force which will drive the robot to the subgoal. The subgoal is continuously updated from real-time sensor data until the global goal is reached. Simulations are carried out to demonstrate the effectiveness of the proposed approach. © 2008 IEEE.	en_US
dc.relation.ispartof	2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008	en_US
dc.relation.isbasedon	10.1109/MESA.2008.4735667	en_US
dc.title	A subgoal-guided force field method for robot navigation	en_US
dc.type	Conference Proceeding
utslib.for	091303 Autonomous Vehicles	en_US
dc.location.activity	Beijing China	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access
pubs.publication-status	Published	en_US

Abstract:

Motion planning and collision avoidance functionality are crucial attributes to the successful deployment of mobile robots. This research analyzes some shortcomings of the canonical F2 method and then presents Subgoal-Guided Force-Field (SGF2) method to mitigate these drawbacks. In the proposed approach, a robot identifies openings in an environment in front of itself on the basis of sensor data. The midpoints of these openings are determined and selected as subgoal candidates. A cost function is then utilized to evaluate their suitability. One subgoal is then chosen and used by the F2 method to generate a steering force which will drive the robot to the subgoal. The subgoal is continuously updated from real-time sensor data until the global goal is reached. Simulations are carried out to demonstrate the effectiveness of the proposed approach. © 2008 IEEE.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/10999