Mobile robot Path planning based on Behavior Information Potential Field in unknown Environments

Author

Chen, Dongyue ; Zhan, Liming ; Chen, Xiong

Author_Institution

Dept. of Electron. Eng., Fudan Univ., Shanghai

fYear

2004

fDate

22-26 Aug. 2004

Firstpage

683

Lastpage

687

Abstract

a path planning method based on the new concept of behavior information potential field (BIPF) is proposed in this paper. The basic idea is to build an imaginary field represent the behaviors of robot. The BIPF is a crucial factor for path planning. The BIPF method uses a 2D Cartesian histogram grid as an imaginary field model which is updated continuously by the actions of robot. The robot tends to observe the region in which the BIPF value less than others. An optimality punishment function based on BIPF is given by this paper. We use this function to choice the optimal action as control vector. Experimental result shows the performance of BIPF method in this paper

Keywords

mobile robots; path planning; 2D Cartesian histogram grid; behavior information potential field; mobile robot; optimality punishment function; path planning; Artificial intelligence; Educational institutions; Histograms; Mathematical analysis; Mobile robots; Motion control; Neural networks; Optimal control; Path planning; Robustness; BIPF; Mobile robot; Optimality punishment function; Path planning;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on

Conference_Location

Shenyang

Print_ISBN

0-7803-8614-8

Type

conf

DOI

10.1109/ROBIO.2004.1521863

Filename

1521863