Robot path planning based on artificial potential field with deterministic annealing

In the context of motion planning in robotics, the problem of path planning based on artificial potential fields has been examined using different algorithms to avoid trapping in local minima. With this objective, this paper proposes a novel method based on a deterministic annealing strategy to impr...

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Vydané v:ISA transactions Ročník 138; s. 74 - 87
Hlavní autori: Wu, Zhengtian, Dai, Jinyu, Jiang, Baoping, Karimi, Hamid Reza
Médium: Journal Article
Jazyk:English
Vydavateľské údaje: United States Elsevier Ltd 01.07.2023
Predmet:
Artificial potential field
Deterministic annealing
Local minima
Robot path planning
Robot path planning
Deterministic annealing
Artificial potential field
Local minima
ISSN:0019-0578, 1879-2022, 1879-2022
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Shrnutí:In the context of motion planning in robotics, the problem of path planning based on artificial potential fields has been examined using different algorithms to avoid trapping in local minima. With this objective, this paper proposes a novel method based on a deterministic annealing strategy to improve the potential field function by introducing a temperature parameter to increase the robot’s obstacle avoidance efficiency. The annealing and tempering strategies prevent the robot from being trapped at the local minima and allow it to continue towards its destination. The initial path is optimised using an annealing algorithm to enhance the overall performance. The time, length and success rate of the planned path measures the quality of the solution. Simulation results and comparative experiments demonstrate that the proposed algorithm can solve path planning in different environments. The proposed algorithm is suitable for complex environments with convex or non-convex polygon obstacles. •Proposing a new algorithm based on Deterministic Annealing for local and global path planning.•Preventing the robot from being trapped at the local minima.•Providing comparative experiments under complex environments with convex or non-convex polygon obstacles.
Bibliografia:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 23
ISSN:0019-0578
1879-2022
1879-2022
DOI:10.1016/j.isatra.2023.02.018