Comparison of geometrical, kinematic, and dynamic performance of several potential field methods

The artificial potential field (APF) approach is a widely used path-planning algorithm for robot navigation. The method in some of its variants is known to exhibit several difficulties such as entrapment in a local minimum. In this paper, we compare the behavior of several variants of APF methods with emphasis on the quality of path geometry, and velocity and acceleration profiles. We argue that great improvement results when globally consistent potential fields (such as distance to the target) are used in conjunction with boundary following algorithm.

[1]  Pradeep K. Khosla,et al.  Superquadric artificial potentials for obstacle avoidance and approach , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[2]  J. Brian Burns,et al.  Path planning using Laplace's equation , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[3]  Shuzhi Sam Ge,et al.  Dynamic Motion Planning for Mobile Robots Using Potential Field Method , 2002, Auton. Robots.

[4]  Narendra Ahuja,et al.  A potential field approach to path planning , 1992, IEEE Trans. Robotics Autom..

[5]  Jean-Jacques E. Slotine,et al.  Real-time path planning using harmonic potentials in dynamic environments , 1997, Proceedings of International Conference on Robotics and Automation.

[6]  Yoram Koren,et al.  Real-time obstacle avoidance for fact mobile robots , 1989, IEEE Trans. Syst. Man Cybern..

[7]  Roseli A. Francelin Romero,et al.  Integrating Planning and a Rule-Based System for Controlling a Robot Soccer Team , 2006, 2006 Ninth Brazilian Symposium on Neural Networks (SBRN'06).

[8]  Daniel E. Koditschek,et al.  Exact robot navigation using artificial potential functions , 1992, IEEE Trans. Robotics Autom..

[9]  Hsuan Chang.  A new technique to handle local minimum for imperfect potential field based motion planning , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[10]  Jean-Claude Latombe,et al.  A Monte-Carlo algorithm for path planning with many degrees of freedom , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[11]  Silva Junior,et al.  Navegação exploratória baseada em problemas de valores de contorno , 2003 .

[12]  Günther Schmidt,et al.  Mobile Robot Navigation In A Dynamic World Using An Unsteady Diffusion Equation Strategy , 1992, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems.

[13]  Marwan Bikdash,et al.  Adaptive boundary-following algorithm guided by artificial potential field for robot navigation , 2009, 2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space.

[14]  A.A. Masoud,et al.  Solid mechanics-inspired sensor-based motion planner , 2005, Proceedings of 2005 IEEE Conference on Control Applications, 2005. CCA 2005..

[15]  Pradeep K. Khosla,et al.  Real-time obstacle avoidance using harmonic potential functions , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[16]  Yoram Koren,et al.  Potential field methods and their inherent limitations for mobile robot navigation , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[17]  O. Khatib,et al.  Real-Time Obstacle Avoidance for Manipulators and Mobile Robots , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[18]  Paulo Martins Engel,et al.  Exploratory Navigation Based on Dynamical Boundary Value Problems , 2006, J. Intell. Robotic Syst..

[19]  Ahmad A. Masoud,et al.  Robot navigation using a pressure generated mechanical stress field: "the biharmonic potential approach" , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[20]  Guilherme A. S. Pereira,et al.  A potential field approach for collecting data from sensor networks using mobile robots , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[21]  Roderic A. Grupen,et al.  The applications of harmonic functions to robotics , 1993, J. Field Robotics.

[22]  Mauro Massari,et al.  Autonomous Navigation System for Planetary Exploration Rover based on Artificial Potential Fields , 2004 .

[23]  Ahmad A. Masoud.  A boundary value problem formulation of pursuit evasion in a known stationary environment: a potential field approach , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.