Robot navigation based on electrostatic field computation

This paper addresses the problem of mobile robot navigation using artificial potential fields. Many potential field based methodologies are found in the robotics literature, but most of them have problems with spurious local minima, which cause the robot to stop before reaching its target position....

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Bibliographic Details
Published in:IEEE transactions on magnetics 2006-04, Vol.42 (4), p.1459-1462
Main Authors: Pimenta, L.C.A., Fonseca, A.R., Pereira, G.A.S., Mesquita, R.C., Silva, E.J., Caminhas, W.M., Campos, M.F.M.
Format: Article
Language:English
Subjects:
Computation
Cross-disciplinary physics: materials science
rheology
Electrostatic fields
Electrostatics
Exact sciences and technology
Finite element methods
Magnetism
Materials science
Mathematical analysis
Minima
Mobile robots
Motion planning
Navigation
Orbital robotics
Other topics in materials science
Path planning
Physics
Potential fields
Robot control
Robot kinematics
Robots
Shape
Trajectory
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Summary:This paper addresses the problem of mobile robot navigation using artificial potential fields. Many potential field based methodologies are found in the robotics literature, but most of them have problems with spurious local minima, which cause the robot to stop before reaching its target position. Although some free of local minima methodologies are found in the literature, none of them are easy to implement and generalize for complex shaped environments and robots. We propose a perfect analogy between electrostatic field computation and robot path planning. Thus, an easy solution to the problem, which is based on standard finite-element methods, can be applied with generic geometries and can even take into account the robot's orientation. To demonstrate the elegance of the proposed methodology, several experimental results with actual mobile robots are included
ISSN:0018-9464
1941-0069
DOI:10.1109/TMAG.2006.870931