Title :
Path planning using the potential field approach for navigation
Author :
Garibotto, G. ; Masciangelo, S.
Author_Institution :
ELSAG spa, Central Res. Dept., Genova, Italy
Abstract :
Proposes a potential field approach for local path planning of a mobile robot in a telerobotics context, that is, with the presence of a human operator in the control loop at a supervisory level. The models of both the vehicle and the obstacles are presented together with the description of the trajectory generation algorithm and a novel approach to deadlock avoidance. Finally the proposed man-machine interaction strategy is outlined.<>
Keywords :
man-machine systems; mobile robots; navigation; path planning; telecontrol; deadlock avoidance; local path planning; man-machine interaction strategy; mobile robot; navigation; potential field approach; supervisory level; telerobotics; trajectory generation algorithm; Computer errors; Humans; Layout; Mobile robots; Navigation; Path planning; Robot kinematics; Telerobotics; Trajectory; Vehicles;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240366
