TY - GEN
T1 - Random force based algorithm for local minima escape of potential field method
AU - Lee, Jinseok
AU - Nam, Yunyoung
AU - Hong, Sangjin
PY - 2010
Y1 - 2010
N2 - We address a new inherent limitation of potential field methods, which is symmetrically aligned robot-obstacle-goal (SAROG). The SAROG involves one critical risk of local minima trap. For dealing with the problem, we investigate the way how the local minima trap is recognized, and present our random force algorithm. The force algorithm has two categories of random unit total force (RUTF) and random unit total force with repulsion removal (RUTF-RR) which are selected based on the conditions of a robot, an obstacle and a goal.
AB - We address a new inherent limitation of potential field methods, which is symmetrically aligned robot-obstacle-goal (SAROG). The SAROG involves one critical risk of local minima trap. For dealing with the problem, we investigate the way how the local minima trap is recognized, and present our random force algorithm. The force algorithm has two categories of random unit total force (RUTF) and random unit total force with repulsion removal (RUTF-RR) which are selected based on the conditions of a robot, an obstacle and a goal.
UR - https://www.scopus.com/pages/publications/79952373574
U2 - 10.1109/ICARCV.2010.5707422
DO - 10.1109/ICARCV.2010.5707422
M3 - Conference contribution
AN - SCOPUS:79952373574
SN - 9781424478132
T3 - 11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010
SP - 827
EP - 832
BT - 11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010
T2 - 11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010
Y2 - 7 December 2010 through 10 December 2010
ER -