K-APF Algorithm to Avoid Obstacles in Path Planning

DOI

説明

In this paper, a K-APF algorithm has been proposed to resolve the local minima and unstable path problems that occur when the conventional APF (Artificial Potential Field) algorithm is used for path planning in a real environment. Which is the most popular path planning algorithm for robot manipulators and mobile robots, to avoid the local minima with the conventional APF, repulsive coefficients have been added to the potential field and the Kalman filter has smoothed the unstable path. In the main page, the construction and operation of existing APF algorithms and these Algorithms problems will be described. Also, in order to demonstrate the performance of the proposed algorithm, compared simulation with existing APF algorithm and compared to existing APF, A*, and Dijkstra algorithms through the real experiments in terms of accuracy and speed.

収録刊行物

キーワード

詳細情報 詳細情報について

  • CRID
    1390283659853052288
  • DOI
    10.5954/icarob.2020.gs4-2
  • ISSN
    21887829
  • 本文言語コード
    en
  • データソース種別
    • JaLC
    • Crossref
  • 抄録ライセンスフラグ
    使用不可

問題の指摘

ページトップへ