Local minimum solution for the potential field method in multiple robot motion planning task

Matoui, Fethi; Boussaid, Boumedyen; Abdelkrim, Mohamed Naceur

doi:10.1109/sta.2015.7505223

Cited by 29 publications

(25 citation statements)

References 11 publications

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“…The path must be feasible by the robot, that is to say, it must respect the kinematic and dynamic constraints of the robot. 25 There are several methods of planning the trajectories of many robots located in the same workspace. In this paper, we use the APF technique to plan the trajectories of the robots.…”

Section: Principal Of the Artificial Potential Field Methodsmentioning

confidence: 99%

“…The real workspace can have several obstacles. To implement this situation, Equation (21) will be modified to Equation (25). So, every obstacle presented in the workspace will be avoided by the robot.…”

Section: Repulsive Potential Forcementioning

confidence: 99%

“…Moreover, Guys 24 focused on the potential fields method to plan conflict-free trajectories for a large number of aircrafts. It is also important to note the study of Matoui et al, 25 who addressed the problem of the local minimum in the multi-robot system. In the same vein, Hassan et al 26 combined both the APF method and the Virtual Obstacles approaches in order to solve the problem of cooperation between multi-robots in the same workspace.…”

Section: Introductionmentioning

confidence: 99%

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Distributed path planning of a multi-robot system based on the neighborhood artificial potential field approach

2018

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The current study is set up to investigate the problem of planning the trajectories of a multi-robot system. It puts emphasis on the idea of using distributed architecture to plan the trajectories of a group of wheeled mobile robots. Each robot must be able to detect and avoid collision with both static and dynamic obstacles present in its environment/neighborhood. This study seeks to improve the artificial potential field (APF) method in order to have good trajectory planning of a multi-robot system. In order to address the purpose of this work, we employed the hybrid approach, which is a combination of three techniques: the APF method; the neighborhood system; and the notion of priority between the robots. Moreover, the minimum local problem is handled in this paper using the non-minimum speed algorithm. The implemented approach is adapted to solve the trajectory planning problem for a multi-robot system. So, the problem of intersection of robots at the same passage point is solved through using the method of assignment of priority between robots. We also used the neighborhood detection technique to reduce the influence area of each robot and to optimize the time of calculation. The overall system equations associated to the robots are updated at each time of simulation to react at any condition that might suddenly emerge. The approach is implemented with MATLAB/Simulink and Solidworks/Simmechanics.

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Section: Principal Of the Artificial Potential Field Methodsmentioning

confidence: 99%

Section: Repulsive Potential Forcementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Distributed path planning of a multi-robot system based on the neighborhood artificial potential field approach

2018

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“…However, there are several drawbacks to potential fields. First, mobile robots often fall into the local minimum in potential fields [7][8][9]. The local minimum is the point at which the mobile robot cannot exit from an area with adjacent obstacles.…”

Section: Introductionmentioning

confidence: 99%

Local Path Planning of a Mobile Robot Using a Novel Grid-Based Potential Method

Jung

Kim

2020

IJFIS

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This paper proposes the local path planning of a mobile robot using a novel grid-based potential method. The proposed method can be easily applied to a robotic system in a real environment because it is designed based on actual sensors. This method solves the local minimum problems that occur frequently in the potential field. A new repulsive field is created between adjacent obstacles that a mobile robot cannot pass through by calculating the distance between the robot and the obstacles. The generated repulsion field causes a mobile robot to escape from the local minimum. MATLAB simulations are used to compare the proposed and conventional potential field methods.

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“…However, it has limitations such as being trapped at a local minima and deadlocks. To avoid the above difficulties, several researchers (Li, Wang, Chen, & Zhou, ; Matoui, Boussaid, & Abdelkrim, ; Park & Lee, ) have presented different modifications in the traditional potential field method to avoid local minima. The problem of deadlocks is dealt with by replacing traditionally used functions with exponential functions (Ge & Cui, ; Lee, Nam, Hong, & Cho, ; Weerakoon, Ishii, & Nassiraei, ).…”

Section: Introductionmentioning

confidence: 99%

Path planning of humanoids based on artificial potential field method in unknown environments

2018

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In this paper, an artificial potential field based navigational controller has been developed for motion planning of humanoid robots. Here, NAO robots are used as the humanoid platform using the underlying principles of potential field based method. The movement of the robot is considered to be under a negative gradient scheme by the combined effect of attractive and repulsive forces generated due to target and obstacles, respectively. The working of the controller is tested in a V‐REP simulation platform, and the simulation results are validated through a real‐time experimental set‐up developed under laboratory conditions. Here, the navigation of both single and multiple humanoids has been attempted. For avoiding intercollision among multiple humanoids during their navigation in a common platform, a Petri‐Net control scheme has been proposed. The results obtained from both the simulation and experimental platforms are compared against each other with a good agreement between them having minimal percentage of deviations. Finally, the proposed controller is also evaluated against another existing navigational model, and a significant performance improvement has been observed.

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Local minimum solution for the potential field method in multiple robot motion planning task

Cited by 29 publications

References 11 publications

Distributed path planning of a multi-robot system based on the neighborhood artificial potential field approach

Distributed path planning of a multi-robot system based on the neighborhood artificial potential field approach

Local Path Planning of a Mobile Robot Using a Novel Grid-Based Potential Method

Path planning of humanoids based on artificial potential field method in unknown environments

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