Artificial Coordinating Field Based Motion Planning of Mobile Robots
Xingjian Jing, Yuechao Wang · InTech eBooks · 2008
In order to overcome some noticeable drawbacks of the traditional APF based methods such as local minima and oscillations on the planned trajectory, an artificial coordinating field was proposed recently (Jing et al 2002, 2003, 2004abc). This chapter provides a simple introduction for these newly developed results. A coordinating force is added to the conventional APF which is orthogonal to the repulsive force, and the field parameters are designed with consideration of the states and task of mobile robots under different enviromental situations. These enable the ACF to be more robust and effective for behavior decisions of mobile robots and adaptable to the change of environments when there are different intelligent and unintelligent obstacles. Local minima and unnecessary oscillation in