A novel potential field method for path planning of mobile robots by adapting animal motion attributes

Bence Kovács, Géza Szayer, Ferenc Tajti, Mauricio Burdelis, P. Korondi

Research output: Contribution to journalArticle

60 Citations (Scopus)

Abstract

This paper presents a concept for path planning of mobile robots in household environments. The proposed algorithm takes communicative means of locomotion into account in order to facilitate human-robot interaction. The well-known traditional artificial potential field method (APF) was extended by motion characteristics of household animals. The proposed algorithm includes velocity and orientation information and can be used in unknown, dynamic environments. The main contribution of this paper is the definition of an online, local path planning method by adapting animal motion attributes in order to assist human-robot interaction. The algorithm was implemented in an embedded system and evaluated on MOGI-ETHON, a holonomic drive mobile robot.

Original languageEnglish
Pages (from-to)24-34
Number of pages11
JournalRobotics and Autonomous Systems
Volume82
DOIs
Publication statusPublished - Aug 1 2016

Keywords

  • Animal motion attributes
  • Dynamic environment
  • Holonomic mobile robot
  • Laser-scanner
  • On-line path planning
  • Potential field

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications

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