Title :
Evolutionary programming-based univector field navigation method for past mobile robots
Author :
Kim, Yong-Jae ; Kim, Jong-Hwan ; Kwon, Dong-Soo
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea
fDate :
6/1/2001 12:00:00 AM
Abstract :
Most of navigation techniques with obstacle avoidance do not consider the robot orientation at the target position. These techniques deal with the robot position only and are independent of its orientation and velocity. To solve these problems this paper proposes a novel univector field method for fast mobile robot navigation which introduces a normalized two dimensional vector field. The method provides fast moving robots with the desired posture at the target position and obstacle avoidance. To obtain the sub-optimal vector field, a function approximator is used and trained by evolutionary programming. Two kinds of vector fields are trained, one for the final posture acquisition and the other for obstacle avoidance. Computer simulations and real experiments are carried out for a fast moving mobile robot to demonstrate the effectiveness of the proposed scheme
Keywords :
digital simulation; evolutionary computation; mobile robots; navigation; computer simulations; evolutionary programming; evolutionary programming-based univector field navigation; function approximator; mobile robot navigation; mobile robots; obstacle avoidance; posture acquisition; robot orientation; robot position; Functional programming; Genetic programming; Mechanical factors; Mobile robots; Navigation; Path planning; Robot control; Robot programming; Service robots; Sliding mode control;
Journal_Title :
Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on
DOI :
10.1109/3477.931544