Dynamic Motion Planning for Mobile Robots Using Potential Field Method.pdfVIP

Pro ceedings of the 8th IEEE Mediterranean Conference on Control and Automation (MED 2000) Rio, Patras, Greece 17-19 July, 2000 DYNAMIC MOTION PLANNING FOR MOBILE ROBOTS USING POTENTIAL FIELD METHOD S. S. GE and Y. J. CUI Department of Electrical Engineering National University of Singap ore Singap ore 117576 E-mail: elegesz@nus.edu.sg, Tel:(+65) 874 6821, Fax:(+65) 779 1103 Abstract: The p otential eld metho d is widely used for autonomous mobile rob ot path planning due to its elegant mathematical analysis and simplicity. However, most researches were fo cused on solving the motion planning problem in a stationary environment, where b oth targets and obstacles are stationary. This pap er prop oses a new p otential eld metho d for motion planning of mobile rob ots in a dynamic environment where the target and obstacles are moving. Firstly, the new p otential function and the corresp onding virtual force are dened. Then, an on-line motion planning algorithm based on the new p otential eld metho d is presented. Finally, computer simulation is used to demonstrate the eectiveness of the dynamic motion planning scheme based on the new p otential eld metho d. Keywords: Potential Fields, Motion Planning, Moving Obstacle Avoidance 1 INTRODUCTION