MATEC Web Conf.
Volume 75, 20162016 International Conference on Measurement Instrumentation and Electronics (ICMIE 2016)
|Number of page(s)||4|
|Section||Theory of Measurement Error|
|Published online||01 September 2016|
Smooth Path Planning by Fusion of Artificial Potential Field Method and Collision Cone Approach
1 Yonsei University, Department of Electrical and Electronic Engineering, Seoul, Korea
2 Changwon National University, Department of Electrical Engineering, Changwon, Kyongnam, Korea
A variety of path planning methods have been developed for different purposes, such as minimum path length and minimum processing time and smoothness of the path. This paper presents a novel path planning method by fusion of artificial potential filed (APF) and collision cone approach. The proposed algorithm provides smooth path and avoids local minima problem of the existing APF. And the smoothness of the path produced from the proposed algorithm is estimated by calculating the accumulated force which occurs while a robot passes a whole path. The proposed smooth path planning also can be helpful for considering vehicle kinematics and the safety of vehicle passengers. The simulation results demonstrate the performance of the proposed method.
© The Authors, published by EDP Sciences, 2016
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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