Local-area path planning based on model sensor and APF

Hong Huang; Xue Mei Ren; Lan Tao Liu; Jun Jie Yang

Local-area path planning based on model sensor and APF

Hong Huang^*
, Xue Mei Ren
, Lan Tao Liu
, Jun Jie Yang

^*Corresponding author for this work

School of Automation

Beijing Institute of Technology

Research output: Contribution to journal › Article › peer-review

1 Citation (Scopus)

Abstract

In order to improve the efficiency of soccer robots' path planning, a method based on model sensor and APF (Artificial Potential Field) is presented. To conveniently compute the APF, a model sensor is constructed for soccer robot. The repulsive force of APF is applied to avoid obstacle quickly, so as to guarantee that soccer robot can arrive at destination quickly with the shortest trajectory after it avoid the obstacles. Finally the simulation result shows that artificial potential filed can plan a path to avoid static and moving obstacle efficiently.

Original language	English
Pages (from-to)	405-408
Number of pages	4
Journal	Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology
Volume	39
Issue number	SUPPL. 1
Publication status	Published - Jun 2007

Keywords

APF
Local-area path planning
Model sensor

Cite this

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title = "Local-area path planning based on model sensor and APF",

abstract = "In order to improve the efficiency of soccer robots' path planning, a method based on model sensor and APF (Artificial Potential Field) is presented. To conveniently compute the APF, a model sensor is constructed for soccer robot. The repulsive force of APF is applied to avoid obstacle quickly, so as to guarantee that soccer robot can arrive at destination quickly with the shortest trajectory after it avoid the obstacles. Finally the simulation result shows that artificial potential filed can plan a path to avoid static and moving obstacle efficiently.",

keywords = "APF, Local-area path planning, Model sensor",

author = "Hong Huang and Ren, \{Xue Mei\} and Liu, \{Lan Tao\} and Yang, \{Jun Jie\}",

year = "2007",

month = jun,

language = "English",

volume = "39",

pages = "405--408",

journal = "Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology",

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TY - JOUR

T1 - Local-area path planning based on model sensor and APF

AU - Huang, Hong

AU - Ren, Xue Mei

AU - Liu, Lan Tao

AU - Yang, Jun Jie

PY - 2007/6

Y1 - 2007/6

N2 - In order to improve the efficiency of soccer robots' path planning, a method based on model sensor and APF (Artificial Potential Field) is presented. To conveniently compute the APF, a model sensor is constructed for soccer robot. The repulsive force of APF is applied to avoid obstacle quickly, so as to guarantee that soccer robot can arrive at destination quickly with the shortest trajectory after it avoid the obstacles. Finally the simulation result shows that artificial potential filed can plan a path to avoid static and moving obstacle efficiently.

AB - In order to improve the efficiency of soccer robots' path planning, a method based on model sensor and APF (Artificial Potential Field) is presented. To conveniently compute the APF, a model sensor is constructed for soccer robot. The repulsive force of APF is applied to avoid obstacle quickly, so as to guarantee that soccer robot can arrive at destination quickly with the shortest trajectory after it avoid the obstacles. Finally the simulation result shows that artificial potential filed can plan a path to avoid static and moving obstacle efficiently.

KW - APF

KW - Local-area path planning

KW - Model sensor

UR - https://www.scopus.com/pages/publications/36549070184

M3 - Article

AN - SCOPUS:36549070184

SN - 0367-6234

VL - 39

SP - 405

EP - 408

JO - Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology

JF - Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology

IS - SUPPL. 1

ER -

Local-area path planning based on model sensor and APF

Abstract

Keywords

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