A subgoal-guided force field method for robot navigation

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
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Motion planning and collision avoidance functionality are crucial attributes to the successful deployment of mobile robots. This research analyzes some shortcomings of the canonical F2method 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 F2method 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.
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