Artifical potential fields with extended Bug algorithm for Mars rover path planning in an unknown environment

• Autorzy: Wyrąbkiewicz K. , Tarczewski T. , Grzesiak L.M.
• Języki publikacji: EN

Abstrakty

EN

In this paper artificial potential fields method applied to autonomous mobile robot -mars rover is presented. It is assumed that Mars rover operates in an unknown environment. In order to visualize the robot's path in environment Matlab software is used. The object can be inserted by graphic data input interface in top view mode. The method of artificial potential fields is extended by an additional algorithm to avoid a local minimum. The proposed algorithm is implemented as a state machine. In this paper simulations results of the developed algorithm are presented. Extended algorithm is used because in the environment may be located complex obstacles.

Słowa kluczowe

EN

autonomous mobile robot; mars rover; path planning; artificial potential fields; Bug algorithm

• Wydawca: Wydawnictwo Politechniki Poznańskiej
• Czasopismo: Computer Applications in Electrical Engineering
• Rocznik: 2014
• Tom: Vol. 12
• Strony: 422--433
• Opis fizyczny: Bibliogr. 7 poz., rys., tab.

Twórcy

autor

Wyrąbkiewicz K.

• Nicolaus Copernicus University 87-100 Toruń, ul. Grudziądzka 5

autor

Tarczewski T.

• Nicolaus Copernicus University 87-100 Toruń, ul. Grudziądzka 5

autor

Grzesiak L.M.

• Warsaw University of Technology 00-661 Warszawa, ul. Koszykowa 75

Bibliografia

• [1] Lacroix S., Mallet A., Bonnafous D., Bauzil G., Fleury S., Herrb M., Chatila R., Autonomous Rover Navigation on Unknown Terrains: Functions and Integration, The International Journal of Robotics Research, Number 21(10), p.917-942, 2002.
• [2] Kala R., Warwick K., Planning Autonomous Vehicles in the Absence of Speed Lanes Using an Elastic Strip, IEEE Transactions on Intelligent Transportation system, vol. 14, no. 4, p. 1743 - 1752, 2013.
• [3] Jiang D. Z., Min W. Z., Mobile Robot Path Tracking in Unknown Dynamic Environment, Robotics, Automation and Mechatronics, IEEE Conference, 2008.
• [4] Adeli H., Tabrizi M.H.N., Mazloomian A., Hajipour E., Jahed M., Path Planning for Mobile Robots using Iterative Artificial Potential Field Method, IJCSI International Journal of Computer Science Issues, Vol. 8, Issue 4, No 2, p.28-32, July 2011.
• [5] Siegwart R., Nourbakhsh I.R., Introductions to Autonomous Mobile Robots, Massachusetts Institute of Technology, p.272-274, 2004.
• [6] Halliday D., Resnick R., Walker J., Podstawy Fizyki, Wydawnictwo Naukowe PWN Warszawa, tom 3, p.5-11, 2006.
• [7] Wyrąbkiewicz K., Wykorzystanie interfejsu Ethernet do przesyłania danych pomiarowych między