A Modified Artificial Potential Field Method Based on Subgoal Points for Mobile Robot

Jixue Mo; Changqing Gao; Fei Liu; Qingkai Yang; Hao Fang

doi:10.1007/978-981-99-6483-3_26

A Modified Artificial Potential Field Method Based on Subgoal Points for Mobile Robot

Jixue Mo, Changqing Gao, Fei Liu, Qingkai Yang, Hao Fang^*

^*Corresponding author for this work

School of Automation

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this paper, a modified artificial potential field (MAPF) method was proposed for general mobile robot navigation system. This MAPF method can effectively solve the unreachable goal problem and the local minima problem of traditional APF method. The first key idea of MAPF method is to modify the repulsive force function and thus optimize the direction of total repulsive force; the second key idea is to generate a serials of subgoal points around obstacles with specific method, so as to help the robot escape from or keep away from local minima area. By comparing with other similar algorithms in simulation environment, the MAPF algorithm can generate shorter paths efficiently. More importantly, it also can generate effective paths in multi-obstacle environment where other algorithms cannot. Finally the simulation results verified the reasonability and practicability of the proposed MAPF method.

Original language	English
Title of host publication	Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings
Editors	Huayong Yang, Jun Zou, Geng Yang, Xiaoping Ouyang, Honghai Liu, Zhiyong Wang, Zhouping Yin, Lianqing Liu
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	296-307
Number of pages	12
ISBN (Print)	9789819964826
DOIs	https://doi.org/10.1007/978-981-99-6483-3_26
Publication status	Published - 2023
Event	16th International Conference on Intelligent Robotics and Applications, ICIRA 2023 - Hangzhou, China Duration: 5 Jul 2023 → 7 Jul 2023

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	14267 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	16th International Conference on Intelligent Robotics and Applications, ICIRA 2023
Country/Territory	China
City	Hangzhou
Period	5/07/23 → 7/07/23

Keywords

Artificial potential field
Mobile robot
Path planning
Subgoal points

Access to Document

10.1007/978-981-99-6483-3_26

Cite this

Mo, J., Gao, C., Liu, F., Yang, Q., & Fang, H. (2023). A Modified Artificial Potential Field Method Based on Subgoal Points for Mobile Robot. In H. Yang, J. Zou, G. Yang, X. Ouyang, H. Liu, Z. Wang, Z. Yin, & L. Liu (Eds.), Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings (pp. 296-307). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 14267 LNAI). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-99-6483-3_26

Mo, Jixue ; Gao, Changqing ; Liu, Fei et al. / A Modified Artificial Potential Field Method Based on Subgoal Points for Mobile Robot. Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings. editor / Huayong Yang ; Jun Zou ; Geng Yang ; Xiaoping Ouyang ; Honghai Liu ; Zhiyong Wang ; Zhouping Yin ; Lianqing Liu. Springer Science and Business Media Deutschland GmbH, 2023. pp. 296-307 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

@inproceedings{58bd3222a3af4cafa47cb3e76f93ffd6,

title = "A Modified Artificial Potential Field Method Based on Subgoal Points for Mobile Robot",

abstract = "In this paper, a modified artificial potential field (MAPF) method was proposed for general mobile robot navigation system. This MAPF method can effectively solve the unreachable goal problem and the local minima problem of traditional APF method. The first key idea of MAPF method is to modify the repulsive force function and thus optimize the direction of total repulsive force; the second key idea is to generate a serials of subgoal points around obstacles with specific method, so as to help the robot escape from or keep away from local minima area. By comparing with other similar algorithms in simulation environment, the MAPF algorithm can generate shorter paths efficiently. More importantly, it also can generate effective paths in multi-obstacle environment where other algorithms cannot. Finally the simulation results verified the reasonability and practicability of the proposed MAPF method.",

keywords = "Artificial potential field, Mobile robot, Path planning, Subgoal points",

author = "Jixue Mo and Changqing Gao and Fei Liu and Qingkai Yang and Hao Fang",

note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023 ; Conference date: 05-07-2023 Through 07-07-2023",

year = "2023",

doi = "10.1007/978-981-99-6483-3_26",

language = "English",

isbn = "9789819964826",

series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

publisher = "Springer Science and Business Media Deutschland GmbH",

pages = "296--307",

editor = "Huayong Yang and Jun Zou and Geng Yang and Xiaoping Ouyang and Honghai Liu and Zhiyong Wang and Zhouping Yin and Lianqing Liu",

booktitle = "Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings",

address = "Germany",

}

Mo, J, Gao, C, Liu, F, Yang, Q & Fang, H 2023, A Modified Artificial Potential Field Method Based on Subgoal Points for Mobile Robot. in H Yang, J Zou, G Yang, X Ouyang, H Liu, Z Wang, Z Yin & L Liu (eds), Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 14267 LNAI, Springer Science and Business Media Deutschland GmbH, pp. 296-307, 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023, Hangzhou, China, 5/07/23. https://doi.org/10.1007/978-981-99-6483-3_26

A Modified Artificial Potential Field Method Based on Subgoal Points for Mobile Robot. / Mo, Jixue; Gao, Changqing; Liu, Fei et al.
Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings. ed. / Huayong Yang; Jun Zou; Geng Yang; Xiaoping Ouyang; Honghai Liu; Zhiyong Wang; Zhouping Yin; Lianqing Liu. Springer Science and Business Media Deutschland GmbH, 2023. p. 296-307 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 14267 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A Modified Artificial Potential Field Method Based on Subgoal Points for Mobile Robot

AU - Mo, Jixue

AU - Gao, Changqing

AU - Liu, Fei

AU - Yang, Qingkai

AU - Fang, Hao

PY - 2023

Y1 - 2023

N2 - In this paper, a modified artificial potential field (MAPF) method was proposed for general mobile robot navigation system. This MAPF method can effectively solve the unreachable goal problem and the local minima problem of traditional APF method. The first key idea of MAPF method is to modify the repulsive force function and thus optimize the direction of total repulsive force; the second key idea is to generate a serials of subgoal points around obstacles with specific method, so as to help the robot escape from or keep away from local minima area. By comparing with other similar algorithms in simulation environment, the MAPF algorithm can generate shorter paths efficiently. More importantly, it also can generate effective paths in multi-obstacle environment where other algorithms cannot. Finally the simulation results verified the reasonability and practicability of the proposed MAPF method.

AB - In this paper, a modified artificial potential field (MAPF) method was proposed for general mobile robot navigation system. This MAPF method can effectively solve the unreachable goal problem and the local minima problem of traditional APF method. The first key idea of MAPF method is to modify the repulsive force function and thus optimize the direction of total repulsive force; the second key idea is to generate a serials of subgoal points around obstacles with specific method, so as to help the robot escape from or keep away from local minima area. By comparing with other similar algorithms in simulation environment, the MAPF algorithm can generate shorter paths efficiently. More importantly, it also can generate effective paths in multi-obstacle environment where other algorithms cannot. Finally the simulation results verified the reasonability and practicability of the proposed MAPF method.

KW - Artificial potential field

KW - Mobile robot

KW - Path planning

KW - Subgoal points

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U2 - 10.1007/978-981-99-6483-3_26

DO - 10.1007/978-981-99-6483-3_26

M3 - Conference contribution

AN - SCOPUS:85175995482

SN - 9789819964826

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 296

EP - 307

BT - Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings

A2 - Yang, Huayong

A2 - Zou, Jun

A2 - Yang, Geng

A2 - Ouyang, Xiaoping

A2 - Liu, Honghai

A2 - Wang, Zhiyong

A2 - Yin, Zhouping

A2 - Liu, Lianqing

PB - Springer Science and Business Media Deutschland GmbH

T2 - 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023

Y2 - 5 July 2023 through 7 July 2023

ER -

Mo J, Gao C, Liu F, Yang Q , Fang H. A Modified Artificial Potential Field Method Based on Subgoal Points for Mobile Robot. In Yang H, Zou J, Yang G, Ouyang X, Liu H, Wang Z, Yin Z, Liu L, editors, Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings. Springer Science and Business Media Deutschland GmbH. 2023. p. 296-307. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-981-99-6483-3_26

A Modified Artificial Potential Field Method Based on Subgoal Points for Mobile Robot

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