Artificial Potential Field Based Robots Using a Virtual
Min Gyu Park, Min Cheol Lee · 2003
The artifkial potential Jield (APF) based path planning methods have a local minimum problem, which can trap mobile robots before reaching it's goal. In this stu& a new concept using a virtual obstacle is proposed to escape local minimums occurred in local path planning. A virtual obstacle is located around local minimums to repel a mobile robot from local minimums. A sensor based discrete modeling method is also proposed for modeling of the mobile robot with range sensors. This modeling method is adaptable for a real-time path planning because it provides lower complexi@