Virtual local target method for avoiding local minimum in potential field based robot navigation

被引：30

作者：

Xi-yong Zou

Jing Zhu

机构：

[1] Coll. of Elec. Eng., Lab. of Industrial Control Technol., Zhejiang Univ.

来源：

Journal of Zhejiang University-SCIENCE A | 2003年 / 4卷 / 3期

基金：

中国国家自然科学基金;

关键词：

Local minimum; Potential field based robot navigation; Rules; Virtual local target;

D O I：

10.1631/jzus.2003.0264

中图分类号：

学科分类号：

摘要：

A novel robot navigation algorithm with global path generation capability is presented. Local minimum is a most intractable but is an encountered frequently problem in potential field based robot navigation. Through appointing appropriately some virtual local targets on the journey, it can be solved effectively. The key concept employed in this algorithm are the rules that govern when and how to appoint these virtual local targets. When the robot finds itself in danger of local minimum, a virtual local target is appointed to replace the global goal temporarily according to the rules. After the virtual target is reached, the robot continues on journey by heading towards the global goal. The algorithm prevents the robot from running into local minima anymore. Simulation results showed that it is very effective in complex obstacle environments.

引用

页码：264 / 269

页数：5

共 14 条

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