| Title: | OS7-7 Smart Spline-Based Robot Navigation on Several Homotopies: Guaranteed Avoidance of Potential Function Local Minima |
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| Publication: | ICAROB2018 |
| Volume: | 23 |
| Pages: | 407-410 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2018.OS7-7 |
| Author(s): | Roman Lavrenov |
| Publication Date: | February 2, 2018 |
| Keywords: | robotics, algorithm, modelling, mobile robot, path planning, Voronoi graph, potential field, optimization criteria, virtual experiments |
| Abstract: | Potential function based methods provide powerful solutions in tasks of local and global path planning. They are characterized implementation simplicity, but suffer from navigation function local minima. In this paper we propose a modification of our original spline-based planning algorithm. Voronoi-based approach provides a good initial path as first iteration. A new safety criterion is integrated into path planning to guarantee path safety. The modified algorithm was implemented in Matlab environment and demonstrated significant advantages over the original algorithm. |
| PDF File: | https://alife-robotics.co.jp/members2018/icarob/data/html/data/OS_pdf/OS7/OS7-7.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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