Real-Time Path Planning in Unknown Environments using a Virtual Hill
| Authors: | Lee Min Cheol, School of Mechanical Engineering, Pusan National University, Korea, Republic of
Park Min Gyu, Research Institute of Mechanical Technology, Pusan National University, Korea, Republic of
Son Kwon, School of Mechanical Engineering, Pusan National University, Korea, Republic of |
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| Topic: | 4.3 Robotics |
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| Session: | Mobile Robots I |
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| Keywords: | mobile robot, path planning, artificial potential field, local minimum, virtual hill, extra potential, navigation |
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Abstract
The artificial potential field based path planning has been most wisely used for local path planning because it provides simple and efficient motion planners for practical purposes. However, this approach has a local minimum problem which can trap a robot before reaching its goal. The local minimum problem is sometimes inevitable when a mobile robot moves in unknown environments, because the robot cannot predict local minima before it detects obstacles forming the local minima. The avoidance of local minima has been an active research topic in the potential field based path planning. In this study, we propose a new concept using a virtual hill to escape local minima that occur in local path planning for a mobile robot. A virtual hill is located around local minimum to repel a robot from local minimum.
