Real-Time Obstacle Avoidance Using Potential Field for a Nonholonomic Vehicle

Seki, Hiroaki; Kamiya, Yûji; Hikizu, Masatoshi

doi:10.5772/9508

Cited by 15 publications

(5 citation statements)

References 11 publications

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“…In the APF approach, the obstacles to be avoided are represented by a repulsive artificial potential and the goal is represented by an attractive potential, so that a robot reaches the goal without colliding with obstacles as it is illustrated in In general, the robot is represented as a particle under the influence of a scalar potential field, U, defined as [13] .…”

Section: A Apf Theorymentioning

confidence: 99%

A new fuzzy speed planning method for safe navigation

Sezer

Ercan

Heceoglu

et al. 2012

2012 IEEE International Conference on Vehicular Electronics and Safety (ICVES 2012)

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This paper introduces a new speed planning strategy for autonomous navigation. Speed planning can be done considering lots of parameters using offline path planning strategies. However, in an obstacle avoidance scenario, which can be thought of as a dynamic path planning, avoidance strategy must work fast. That is why previous strategies generally concentrate only on steering maneuvers for obstacle avoidance. This paper concentrates on the speed planning part of the obstacle avoidance strategy. To this aim, a new fuzzy approach is developed for on-line speed planning with its purely reactive nature. Methodic simulations are carried out to verify and demonstrate the effectiveness of the new method over previous methods. The maneuver strategy for obstacle avoidance is the artificial potential field method.

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Section: A Apf Theorymentioning

confidence: 99%

A new fuzzy speed planning method for safe navigation

Sezer

Ercan

Heceoglu

et al. 2012

2012 IEEE International Conference on Vehicular Electronics and Safety (ICVES 2012)

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“…This is an alternative to other approaches in the literature which neglect this criteria, for instance the potential field approaches [7], [8].…”

Section: Modelingmentioning

confidence: 99%

A rule-based assistive control algorithm for safe navigation for a powered wheelchair

Teodorescu

Zhang

Carlson

2020

2020 European Control Conference (ECC)

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This paper addresses the problem of safe navigation in an environment with randomly placed static obstacles. We convert a commercial powered wheelchair into a semiautonomous vehicle with limited sight (environment awareness), by instrumenting it using off-the-shelf ultrasonic sensors and associated electronic boards (Arduino). In the continuity of our previous work where we had used stochastic dynamic programming to formulate optimization problems which led to relatively large size look-up tables that can be used as supervisory control, here we propose to extract rules using those results (that data). The advantage of this approach is a lowcomputational cost for future online implementation, and the drawback is a suboptimal policy. The feasibility is assessed by running simulations in a fairly realistic environment (Unity3D).

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“…The artificial potential field has been widely used for collision-free obstacle avoidance in a known environment. Non-holonomic vehicle navigation through narrow passage was developed in [21] using a potential field. A fuzzy-based potential field method was presented in [22] for dynamic motion planning, including static and moving obstacles.…”

Section: Introductionmentioning

confidence: 99%

An adaptive motion planning algorithm for obstacle avoidance in autonomous vehicle parking

Nakrani

Joshi

2021

IJ-AI

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In the recent era, machine learning-based autonomous vehicle parking and obstacle avoidance navigation have drawn increased attention. An intelligent design is needed to solve the autonomous vehicles related problems. Presently, autonomous parking systems follow path planning techniques that generally do not possess a quality and a skill of natural adapting behavior of a human. Most of these designs are built on pre-defined and fixed criteria. It needs to be adaptive with respect to the vehicle dynamics. A novel adaptive motion planning algorithm is proposed in this paper that incorporates obstacle avoidance capability into a standalone parking controller that is kept adaptive to vehicle dimensions to provide human-like intelligence for parking problems. This model utilizes fuzzy membership thresholds concerning vehicle dimensions and vehicle localization to enhance the vehicle’s trajectory during parking when taking into consideration obstacles. It is generalized for all segments of cars, and simulation results prove the proposed algorithm’s effectiveness.

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Real-Time Obstacle Avoidance Using Potential Field for a Nonholonomic Vehicle

Cited by 15 publications

References 11 publications

A new fuzzy speed planning method for safe navigation

A new fuzzy speed planning method for safe navigation

A rule-based assistive control algorithm for safe navigation for a powered wheelchair

An adaptive motion planning algorithm for obstacle avoidance in autonomous vehicle parking

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