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

^*此作品的通讯作者

自动化学院

Beijing Institute of Technology

科研成果: 期刊稿件 › 文章 › 同行评审

1 引用（Scopus）

摘要

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.

源语言	英语
页（从-至）	405-408
页数	4
期刊	Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology
卷	39
期	SUPPL. 1
出版状态	已出版 - 6月 2007

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引用此

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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",

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year = "2007",

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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

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SN - 0367-6234

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ER -

Local-area path planning based on model sensor and APF

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