Adaptive Artificial Potential Field Approach for Obstacle Avoidance Path Planning

Zhou, Li; Li, Wei

doi:10.1109/iscid.2014.144

Cited by 58 publications

(34 citation statements)

References 4 publications

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“…The resultant forces of the attraction forces and the repulsion forces control the moving of evacuees. As shown in Figure 5, the closer to the shelters, the smaller the potential field value; the closer to the disaster point, the greater the potential field value [24].…”

Section: Evacuation Planning Algorithm Based On Artificial Potential mentioning

confidence: 93%

CLOTHO: A Large-Scale Internet of Things-Based Crowd Evacuation Planning System for Disaster Management

Zhang

Sotiriadis

et al. 2018

IEEE Internet Things J.

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In recent years, different kinds of natural hazards or man-made disasters happened that were diversified and difficult to control with heavy casualties. In this work, we focus on the rapid and systematic evacuation of large-scale densities of people after disasters to reduce loss in an effective manner. The optimal evacuation planning is a key challenge and becomes a hotspot of research and development. We design our system based on an Internet of Things (IoT) scenario that utilizes a mobile Cloud computing platform in order to develop the Crowd Lives Oriented Track and Help Optimizition system (CLOTHO). CLOTHO is an evacuation planning system for large-scale densities of people in disasters. It includes the mobile terminal (IoT side) for data collection and the Cloud backend system for storage and analytics. We build our solution upon a typical IoT/fog disaster management scenario and we propose an IoT application based on an evacuation planning algorithm that uses the Artificial Potential Field (APF), which is the core of CLOTHO. APF is conceptualized as an IoT service, and can determine the direction of evacuation automatically according to the gradient direction of the potential field, suitable for rapid evacuation of large population. People are usually in panic, which easily causes the chaos of evacuation and brings secondary disasters. Based on APF, we propose an evacuation planning algorithm names as Artificial Potential Field with Relationship Attraction (APF-RA). APF-RA guides the evacuees with relationship to move to the same shelter as much as possible, to calm evacuees and realize a more humanitarian evacuation. The experimental results show that CLOTHO (using APF and APF-RA) can effectively improve convergence rate, shorten the evacuation route length and evacuation time, and make the remaining capacity of the surrounding shelters well balanced.

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Section: Evacuation Planning Algorithm Based On Artificial Potential mentioning

confidence: 93%

CLOTHO: A Large-Scale Internet of Things-Based Crowd Evacuation Planning System for Disaster Management

Zhang

Sotiriadis

et al. 2018

IEEE Internet Things J.

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“…The feasibility and effectivity are verified by simulation. Zhou et al [59] proposed an adaptive APF method for the path planning of robot obstacle avoidance. The results show the method can avoid falling into the local optimal solution.…”

Section: Artificial Potential Fieldmentioning

confidence: 99%

Path Planning for the Mobile Robot: A Review

2018

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Good path planning technology of mobile robot can not only save a lot of time, but also reduce the wear and capital investment of mobile robot. Several methodologies have been proposed and reported in the literature for the path planning of mobile robot. Although these methodologies do not guarantee an optimal solution, they have been successfully applied in their works. The purpose of this paper is to review the modeling, optimization criteria and solution algorithms for the path planning of mobile robot. The survey shows GA (genetic algorithm), PSO (particle swarm optimization algorithm), APF (artificial potential field), and ACO (ant colony optimization algorithm) are the most used approaches to solve the path planning of mobile robot. Finally, future research is discussed which could provide reference for the path planning of mobile robot.

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“…APF is used to settle motion planning of low dimension robots because it may suffer local minimum problems i.e. it may be trapped in a local minimum and can't reach goal point [24,25]. Before apply APF to sampling process, we should make some modifications.…”

Section: A Potentials Guide Samplingmentioning

confidence: 99%

An Optimal Motion Planning Method of 7-DOF Robotic Arm for Upper Limb Movement Assistance

Liu

et al. 2019

2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

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Assistive robotic arm is crucial alternative resource for people disabled or injured in the upper limbs, which enable them to complete basic living tasks independently. Thus, an extremely accurate motion planning for robotic arm needs to be applied to improve assistive performance. Rapidly-Exploring Random Tree Star (RRT*) is one of the most representative methods, however, this method has great limitations due to the tedious iteration process while planning. In this study, the potentials guide sampling based-on RRT* (PGS-RRT*) approach is introduced through combination with artificial potential fields (APF) as an expansion of RRT* algorithm. A revision of repulsive potential force's formula in APF has been applied into sampling process of RRT*. The samples during motion planning is gathered through the optimization of potentials formulations. Specifically, the basic potential function give each sample an offset oriented to goal. Experiments in 2D and 3D environments and simulations on KUKA LBR iiwa 7 prove that the PGS-RRT* method is able to find an optimal path in a short time, which highlights the application prospect on robots with a number of degree of freedom (DOF) in patient's daily life assistance.

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Adaptive Artificial Potential Field Approach for Obstacle Avoidance Path Planning

Cited by 58 publications

References 4 publications

CLOTHO: A Large-Scale Internet of Things-Based Crowd Evacuation Planning System for Disaster Management

CLOTHO: A Large-Scale Internet of Things-Based Crowd Evacuation Planning System for Disaster Management

Path Planning for the Mobile Robot: A Review

An Optimal Motion Planning Method of 7-DOF Robotic Arm for Upper Limb Movement Assistance

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