DocumentCode
2865191
Title
Without Local Minimum by Using Make Circular Obstacles
Author
Nooraliei, Amir
Author_Institution
Islamic Azad Univ. - Hamedan branch, Hamedan, Iran
fYear
2009
fDate
19-20 Dec. 2009
Firstpage
1
Lastpage
4
Abstract
This paper presents a new methods for having environment without local minimum. Artificial potential fields used for path planning. We use a workspace image then determine and change shape of obstacles to circular obstacles by using image processing algorithms. This method cause to have an environment without local minimum. Furthermore the simulation results show how this method improved algorithm and robot did not trap in local minimum.
Keywords
image processing; mobile robots; path planning; artificial potential fields; circular obstacles; image processing algorithms; local minimum; path planning; Circuit simulation; Gold; Heuristic algorithms; Image processing; Orbital robotics; Partitioning algorithms; Path planning; Robots; Shape; Simulated annealing;
fLanguage
English
Publisher
ieee
Conference_Titel
Information Engineering and Computer Science, 2009. ICIECS 2009. International Conference on
Conference_Location
Wuhan
Print_ISBN
978-1-4244-4994-1
Type
conf
DOI
10.1109/ICIECS.2009.5366307
Filename
5366307
Link To Document