Motion Planning for Omnidirectional Wheeled Mobile Robot by Potential Field Method

Motion Planning for Omnidirectional Wheeled Mobile Robot by Potential Field Method

In this paper, potential field method has been used to navigate a three omnidirectional wheels’ mobile robot and to avoid obstacles. The potential field method is used to overcome the local minima problem and the goals nonreachable with obstacles nearby (GNRON) problem. For further consideration, mo...

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Main Authors: Weihao Li, Chenguang Yang, Yiming Jiang, Xiaofeng Liu, Chun-Yi Su
Format: Article
Language:English
Published: Hindawi-Wiley 2017-01-01
Series:Journal of Advanced Transportation
Online Access:http://dx.doi.org/10.1155/2017/4961383
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spelling doaj-5e6de04aee4b4c6584106039af4900da2020-11-25T01:34:29ZengHindawi-WileyJournal of Advanced Transportation0197-67292042-31952017-01-01201710.1155/2017/49613834961383Motion Planning for Omnidirectional Wheeled Mobile Robot by Potential Field MethodWeihao Li0Chenguang Yang1Yiming Jiang2Xiaofeng Liu3Chun-Yi Su4Key Lab of Autonomous Systems and Networked Control, Ministry of Education, South China University of Technology, Guangzhou 510640, ChinaKey Lab of Autonomous Systems and Networked Control, Ministry of Education, South China University of Technology, Guangzhou 510640, ChinaKey Lab of Autonomous Systems and Networked Control, Ministry of Education, South China University of Technology, Guangzhou 510640, ChinaCollege of IoT Engineering, Hohai University, Nanjing, ChinaKey Lab of Autonomous Systems and Networked Control, Ministry of Education, South China University of Technology, Guangzhou 510640, ChinaIn this paper, potential field method has been used to navigate a three omnidirectional wheels’ mobile robot and to avoid obstacles. The potential field method is used to overcome the local minima problem and the goals nonreachable with obstacles nearby (GNRON) problem. For further consideration, model predictive control (MPC) has been used to incorporate motion constraints and make the velocity more realistic and flexible. The proposed method is employed based on the kinematic model and dynamics model of the mobile robot in this paper. To show the performance of proposed control scheme, simulation studies have been carried to perform the motion process of mobile robot in specific workplace.http://dx.doi.org/10.1155/2017/4961383
collection DOAJ
language English
format Article
sources DOAJ
author Weihao Li
Chenguang Yang
Yiming Jiang
Xiaofeng Liu
Chun-Yi Su
spellingShingle Weihao Li
Chenguang Yang
Yiming Jiang
Xiaofeng Liu
Chun-Yi Su
Motion Planning for Omnidirectional Wheeled Mobile Robot by Potential Field Method
Journal of Advanced Transportation
author_facet Weihao Li
Chenguang Yang
Yiming Jiang
Xiaofeng Liu
Chun-Yi Su
author_sort Weihao Li
title Motion Planning for Omnidirectional Wheeled Mobile Robot by Potential Field Method
title_short Motion Planning for Omnidirectional Wheeled Mobile Robot by Potential Field Method
title_full Motion Planning for Omnidirectional Wheeled Mobile Robot by Potential Field Method
title_fullStr Motion Planning for Omnidirectional Wheeled Mobile Robot by Potential Field Method
title_full_unstemmed Motion Planning for Omnidirectional Wheeled Mobile Robot by Potential Field Method
title_sort motion planning for omnidirectional wheeled mobile robot by potential field method
publisher Hindawi-Wiley
series Journal of Advanced Transportation
issn 0197-6729
2042-3195
publishDate 2017-01-01
description In this paper, potential field method has been used to navigate a three omnidirectional wheels’ mobile robot and to avoid obstacles. The potential field method is used to overcome the local minima problem and the goals nonreachable with obstacles nearby (GNRON) problem. For further consideration, model predictive control (MPC) has been used to incorporate motion constraints and make the velocity more realistic and flexible. The proposed method is employed based on the kinematic model and dynamics model of the mobile robot in this paper. To show the performance of proposed control scheme, simulation studies have been carried to perform the motion process of mobile robot in specific workplace.
url http://dx.doi.org/10.1155/2017/4961383
work_keys_str_mv AT weihaoli motionplanningforomnidirectionalwheeledmobilerobotbypotentialfieldmethod
AT chenguangyang motionplanningforomnidirectionalwheeledmobilerobotbypotentialfieldmethod
AT yimingjiang motionplanningforomnidirectionalwheeledmobilerobotbypotentialfieldmethod
AT xiaofengliu motionplanningforomnidirectionalwheeledmobilerobotbypotentialfieldmethod
AT chunyisu motionplanningforomnidirectionalwheeledmobilerobotbypotentialfieldmethod
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