Water Flow Inspired Local Minimum Recovery in Mobile Robot Navigation
Liu Ze-we · Microcomputer Information · 2009
Theory and technology of mobile robot navigation is one of an important domain in robotics and automation. One is global navigation based on model that the environment of the robot is certain and another is local navigation based on sensor that the environment of the robot is uncertain. In this paper, propose a new navigation algorithm based on virtual water flow, which integrates virtual water-flow with a potential-field-based method to guide a mobile robot in a certain environment. The potential-field method coupled with virtual water-flow can also navigate a mobile robot in real time. Simulations and experiments show this algorithm possesses good performance, and can overcome the problem caused by local minimum.