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Summary: Proceedings of the 2000 IEEE
International Conference on Robotics & Automation
San Francisco, CA · April 2000
Virtual Obstacle Concept for Local-minimum-recovery in
Potential-field Based Navigation
Liu Chengqing*, Marcelo HAng Jr*, Hariharan Krishnan*, Lim Ser Yong**
*Department of Mechanical and Production Engineering
National University of Singapore
mpeangh@nus.edu,sg
** Gintic Institute of Manufacturing Technology
71 Nanyang Drive
Singapore 638075
Abstract
We present a navigation algorithm, which integrates
virtual obstacle concept with a potential-field-based
method to maneuver cylindrical mobile robots in
unknown or unstructured environments. This study
focuses on the real-time feature of the navigation
algorithm for fast moving mobile robots. We mainly
consider the potential-field method in conjunction with
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