The DOI matches its Crossref record; 2 of the 2 references it cites were found in a registry or an index.
Global path planning using artificial potential fields
Abstract
The author describes a path planning technique for robotic manipulators and mobile robots in the presence of stationary obstacles. The planning consists of applying potential fields around configuration-space obstacles and using these fields to select a safe path for the robot to follow. The advantage of using potential fields in path planning is that they offer a relatively fast and effective way to solve for safe paths around obstacles. In the proposed method of path planning, a trial path is chosen and then modified under the influence of the potential field until an appropriate path is found. By considering the entire path, the problem of being trapped in a local minimum is greatly reduced, allowing the method to be used for global planning. The algorithm was tried with success on many different realistic planning problems. By way of illustration, the algorithm is applied to a two-dimensional revolute manipulator, a mobile robot capable of translation only, and a mobile robot capable of both translation and rotation.>
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Citations
Cites
Real-Time Obstacle Avoidance for Manipulators and Mobile Robots
Khatib, O. (1986) · The International Journal of Robotics Research · doi:10.1177/027836498600500106 · Cited by 7,894
Impedance Control: An Approach to Manipulation: Part I—Theory
Hogan, N. (1985) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3140702 · Cited by 3,673
Cited by
Dynamic Motion Planning for Mobile Robots Using Potential Field Method
Ge, S. S., & Cui, Y. J. (2002) · Autonomous Robots · doi:10.1023/a:1020564024509 · Cited by 803
Singletary, A., Klingebiel, K., Bourne, J., Browning, A., Tokumaru, P., & Ames, A. (2021) · 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros51168.2021.9636670 · Cited by 182
Metadata
- Authors
- Warren, C. W.
- Venue
- Proceedings, 1989 International Conference on Robotics and Automation
- Publisher
- IEEE Comput. Soc. Press
- Published
- 2003-01-07
- Pages
- 316-321
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2116966230
- Cited by
- 370
- References
- 2
- FWCI
- 5.18
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Warren, C. W. (2003). Global path planning using artificial potential fields. Proceedings, 1989 International Conference on Robotics and Automation. https://doi.org/10.1109/robot.1989.100007
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