| Title: | GS3-2 An Improved Algorithm for Obstacle Avoidance by Follow the Gap Method Combined Potential Field |
|---|---|
| Publication: | ICAROB2017 |
| Volume: | 22 |
| Pages: | 613-616 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2017.GS3-2 |
| Author(s): | Chakhrit La-orworrakhun, Suriya Natsupakpong |
| Publication Date: | January 19, 2017 |
| Keywords: | Survey boat, Obstacle Avoidance, Follow the Gap Method, Potential Field Method, Simulation |
| Abstract: | A novel obstacle avoidance algorithm for boat survey, "Follow the Gap Plus", is proposed by combining the "Follow the Gap" method and adapting the "Potential Field" method with an attractive field of obstacles. Then the simulation environment for testing algorithm are generated in various situations with real-world-like environment. The results show that the proposed algorithm can go to the desired destination with better performance than "Follow the Gap" method in the environment with obstacles about 4.47% of total distance, about 7.63% of total time used, and about 54.33% of average change of direction. |
| PDF File: | https://alife-robotics.co.jp/members2017/icarob/data/html/data/GS_pdf/GS3/GS3-2.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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