DocumentCode
2000221
Title
Optimal motion planning for mobile robot based on potential fields
Author
Dong, Lizhi ; Sun, Maoxiang ; Dong, Zaili
Author_Institution
Sch. of Inf. Sci. & Engg., Shenyang Univ. of Technol., China
Volume
2
fYear
2002
fDate
2002
Firstpage
1153
Abstract
The paper addresses motion planning for a mobile robot in a dynamic environment with multiple moving obstacles. A motion planning strategy based on potential field and optimal control theory is presented for mobile robots to solve the problem of navigation and obstacles avoidance. Simulation results are presented to show fine real-time property, avoid the obstacles effectively and almost arrive at the goal on time.
Keywords
mobile robots; optimal control; path planning; dynamic environment; mobile robot; multiple moving obstacles; navigation; obstacles avoidance; optimal control theory; optimal motion planning; potential fields; real-time property; Information science; Mobile robots; Motion planning; Navigation; Optimal control; Robotics and automation; Strategic planning; Technology planning;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control and Automation, 2002. Proceedings of the 4th World Congress on
Print_ISBN
0-7803-7268-9
Type
conf
DOI
10.1109/WCICA.2002.1020760
Filename
1020760
Link To Document