제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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The Real-time Path Planning Using Artificial Potential Field and Simulated Annealing for Mobile Robot

Artificial Potential Field 와 Simulated Annealing을 이용한 이동로봇의 실시간 경로계획

  • 전재현 (부산대학교 지능기계공학과) ;
  • 박민규 (부산대학교 지능기계공학과) ;
  • 이민철 (부산대학교 기계공학부)
  • Published : 2000.10.01
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Abstract

In this parer, we present a real-time path planning algorithm which is integrated the artificial potential field(APF) and simulated annealing(SA) methods for mobile robot. The APF method in path planning has gained popularity since 1990's. It doesn't need the modeling of the complex configuration space of robot, and is easy to apply the path planning with simple computation. However, there is a major problem with APF method. It is the formation of local minima that can trap the robot before reaching its goal. So, to provide local minima recovery, we apply the SA method. The effectiveness of the proposed algorithm is verified through simulation.

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