A new APF strategy for path planning in environments with obstacles
A new APF strategy for path planning in environments with obstacles
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DOI：
10.1016/j.mechmachtheory.2005.01.006
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发表时间：
2005-06-01
影响因子：
5.2
通讯作者：
Ajuria, G
中科院分区：
文献类型：
--
作者：
Agirrebeitia, J;Avilés, R;Ajuria, G
在本文中，一个新的通用方法的路径规划问题的解决方案已被开发的环境中的障碍。该策略一方面可应用于移动的机器人，另一方面可用于解决高冗余度多体系统的位形空间规划问题。该方法是基于人工势场（APF）的概念，通常与环境中定义的障碍物和目标位置。首先，一个新的形状的APF已被安排，建立在一个潜在的密度，选择成反比的距离的N次方。此后，一个全新的路径规划策略被称为“准测地线方法”已被开发，以避免障碍物。此方法适用于2D和3D环境，无论环境是静态还是动态，其工作方式都相同。(c)2005爱思唯尔有限公司保留所有权利。
In this paper, a new general approach for the solution of the path planning problem has been developed in environments with obstacles. On the one hand, this strategy can be applied to mobile robots and on the other hand it can be used to solve the planning of high redundant multibody systems in their Configuration Space. The approach is based on the concept of Artificial Potential Fields (APF) usually associated both with the obstacles defined in the environment and with the target positions. Firstly, a new shape of APF has been arranged, established on a Potential Density, chosen inversely proportional to the Nth power of the distance. Hereafter, a brand new path planning strategy called "quasi-geodesic method" has been developed to avoid the obstacles. This method is valid for 2D and 3D environments, working the same manner whether the environment is static or dynamic. (c) 2005 Elsevier Ltd. All rights reserved.