Smooth Path Planning by Fusion of Artificial Potential Field Method and Collision Cone Approach

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...

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Bibliographic Details
Main Authors: Kim, Yong Hwi, Son, Wan-Sic, Park, Jin Bae, Yoon, Tae Sung
Format: Conference Proceeding
Language:English
Subjects:
Algorithms
Collision avoidance
Computer simulation
Kinematics
Passenger safety
Path planning
Product design
Smoothness
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Summary: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.
ISSN:2261-236X
2274-7214
2261-236X
DOI:10.1051/matecconf/20167505004