Pseudo-Bacterial Potential Field Based Path Planner for Autonomous Mobile Robot Navigation
This paper introduces the pseudo-bacterial potential field (PBPF) as a new path planning method for autonomous mobile robot navigation. The PBPF allows us to obtain an optimal and safe path, in contrast to the classical potential field approach which is not suitable for path planning because it lack...
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2015-07-01
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Series: | International Journal of Advanced Robotic Systems |
Online Access: | https://doi.org/10.5772/60715 |
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doaj-f1edee738faa4d6b8dc332dff7f8ee422020-11-25T03:24:07ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142015-07-011210.5772/6071510.5772_60715Pseudo-Bacterial Potential Field Based Path Planner for Autonomous Mobile Robot NavigationUlises Orozco-Rosas0Oscar Montiel1Roberto Sepúlveda2Instituto Politécnico Nacional, CITEDI, MéxicoInstituto Politécnico Nacional, CITEDI, MéxicoInstituto Politécnico Nacional, CITEDI, MéxicoThis paper introduces the pseudo-bacterial potential field (PBPF) as a new path planning method for autonomous mobile robot navigation. The PBPF allows us to obtain an optimal and safe path, in contrast to the classical potential field approach which is not suitable for path planning because it lacks a means of obtaining the optimal proportional gains. The PBPF uses the pseudo-bacterial genetic algorithm (PBGA) and a fitness function based on the potential field concepts to construct viable paths in dynamical environments to mostly result in the optimal path being obtained. Comparative experiments of sequential and parallel implementations of the PBPF for off-line and online in structured and unstructured conditions are presented; the results are contrasted with the artificial potential field (APF) method to demonstrate how the PBPF proposal overcomes the traditional method.https://doi.org/10.5772/60715 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Ulises Orozco-Rosas Oscar Montiel Roberto Sepúlveda |
spellingShingle |
Ulises Orozco-Rosas Oscar Montiel Roberto Sepúlveda Pseudo-Bacterial Potential Field Based Path Planner for Autonomous Mobile Robot Navigation International Journal of Advanced Robotic Systems |
author_facet |
Ulises Orozco-Rosas Oscar Montiel Roberto Sepúlveda |
author_sort |
Ulises Orozco-Rosas |
title |
Pseudo-Bacterial Potential Field Based Path Planner for Autonomous Mobile Robot Navigation |
title_short |
Pseudo-Bacterial Potential Field Based Path Planner for Autonomous Mobile Robot Navigation |
title_full |
Pseudo-Bacterial Potential Field Based Path Planner for Autonomous Mobile Robot Navigation |
title_fullStr |
Pseudo-Bacterial Potential Field Based Path Planner for Autonomous Mobile Robot Navigation |
title_full_unstemmed |
Pseudo-Bacterial Potential Field Based Path Planner for Autonomous Mobile Robot Navigation |
title_sort |
pseudo-bacterial potential field based path planner for autonomous mobile robot navigation |
publisher |
SAGE Publishing |
series |
International Journal of Advanced Robotic Systems |
issn |
1729-8814 |
publishDate |
2015-07-01 |
description |
This paper introduces the pseudo-bacterial potential field (PBPF) as a new path planning method for autonomous mobile robot navigation. The PBPF allows us to obtain an optimal and safe path, in contrast to the classical potential field approach which is not suitable for path planning because it lacks a means of obtaining the optimal proportional gains. The PBPF uses the pseudo-bacterial genetic algorithm (PBGA) and a fitness function based on the potential field concepts to construct viable paths in dynamical environments to mostly result in the optimal path being obtained. Comparative experiments of sequential and parallel implementations of the PBPF for off-line and online in structured and unstructured conditions are presented; the results are contrasted with the artificial potential field (APF) method to demonstrate how the PBPF proposal overcomes the traditional method. |
url |
https://doi.org/10.5772/60715 |
work_keys_str_mv |
AT ulisesorozcorosas pseudobacterialpotentialfieldbasedpathplannerforautonomousmobilerobotnavigation AT oscarmontiel pseudobacterialpotentialfieldbasedpathplannerforautonomousmobilerobotnavigation AT robertosepulveda pseudobacterialpotentialfieldbasedpathplannerforautonomousmobilerobotnavigation |
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1724603272933670912 |