Motion Planning for Omnidirectional Wheeled Mobile Robot by Potential Field Method
In this paper, potential field method has been used to navigate a three omnidirectional wheels’ mobile robot and to avoid obstacles. The potential field method is used to overcome the local minima problem and the goals nonreachable with obstacles nearby (GNRON) problem. For further consideration, mo...
Saved in:
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2017-01-01
|
| Series: | Journal of Advanced Transportation |
| Online Access: | http://dx.doi.org/10.1155/2017/4961383 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832559277853638656 |
|---|---|
| author | Weihao Li Chenguang Yang Yiming Jiang Xiaofeng Liu Chun-Yi Su |
| author_facet | Weihao Li Chenguang Yang Yiming Jiang Xiaofeng Liu Chun-Yi Su |
| author_sort | Weihao Li |
| collection | DOAJ |
| description | In this paper, potential field method has been used to navigate a three omnidirectional wheels’ mobile robot and to avoid obstacles. The potential field method is used to overcome the local minima problem and the goals nonreachable with obstacles nearby (GNRON) problem. For further consideration, model predictive control (MPC) has been used to incorporate motion constraints and make the velocity more realistic and flexible. The proposed method is employed based on the kinematic model and dynamics model of the mobile robot in this paper. To show the performance of proposed control scheme, simulation studies have been carried to perform the motion process of mobile robot in specific workplace. |
| format | Article |
| id | doaj-art-5e6de04aee4b4c6584106039af4900da |
| institution | Kabale University |
| issn | 0197-6729 2042-3195 |
| language | English |
| publishDate | 2017-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Advanced Transportation |
| spelling | doaj-art-5e6de04aee4b4c6584106039af4900da2025-02-03T01:30:28ZengWileyJournal of Advanced Transportation0197-67292042-31952017-01-01201710.1155/2017/49613834961383Motion Planning for Omnidirectional Wheeled Mobile Robot by Potential Field MethodWeihao Li0Chenguang Yang1Yiming Jiang2Xiaofeng Liu3Chun-Yi Su4Key Lab of Autonomous Systems and Networked Control, Ministry of Education, South China University of Technology, Guangzhou 510640, ChinaKey Lab of Autonomous Systems and Networked Control, Ministry of Education, South China University of Technology, Guangzhou 510640, ChinaKey Lab of Autonomous Systems and Networked Control, Ministry of Education, South China University of Technology, Guangzhou 510640, ChinaCollege of IoT Engineering, Hohai University, Nanjing, ChinaKey Lab of Autonomous Systems and Networked Control, Ministry of Education, South China University of Technology, Guangzhou 510640, ChinaIn this paper, potential field method has been used to navigate a three omnidirectional wheels’ mobile robot and to avoid obstacles. The potential field method is used to overcome the local minima problem and the goals nonreachable with obstacles nearby (GNRON) problem. For further consideration, model predictive control (MPC) has been used to incorporate motion constraints and make the velocity more realistic and flexible. The proposed method is employed based on the kinematic model and dynamics model of the mobile robot in this paper. To show the performance of proposed control scheme, simulation studies have been carried to perform the motion process of mobile robot in specific workplace.http://dx.doi.org/10.1155/2017/4961383 |
| spellingShingle | Weihao Li Chenguang Yang Yiming Jiang Xiaofeng Liu Chun-Yi Su Motion Planning for Omnidirectional Wheeled Mobile Robot by Potential Field Method Journal of Advanced Transportation |
| title | Motion Planning for Omnidirectional Wheeled Mobile Robot by Potential Field Method |
| title_full | Motion Planning for Omnidirectional Wheeled Mobile Robot by Potential Field Method |
| title_fullStr | Motion Planning for Omnidirectional Wheeled Mobile Robot by Potential Field Method |
| title_full_unstemmed | Motion Planning for Omnidirectional Wheeled Mobile Robot by Potential Field Method |
| title_short | Motion Planning for Omnidirectional Wheeled Mobile Robot by Potential Field Method |
| title_sort | motion planning for omnidirectional wheeled mobile robot by potential field method |
| url | http://dx.doi.org/10.1155/2017/4961383 |
| work_keys_str_mv | AT weihaoli motionplanningforomnidirectionalwheeledmobilerobotbypotentialfieldmethod AT chenguangyang motionplanningforomnidirectionalwheeledmobilerobotbypotentialfieldmethod AT yimingjiang motionplanningforomnidirectionalwheeledmobilerobotbypotentialfieldmethod AT xiaofengliu motionplanningforomnidirectionalwheeledmobilerobotbypotentialfieldmethod AT chunyisu motionplanningforomnidirectionalwheeledmobilerobotbypotentialfieldmethod |