Applied Optimal Control and Estimation
Applied Optimal Control and Estimation
Robot Motion Planning
Nonlinear and Optimal Control Systems
Nonlinear and Optimal Control Systems
Dynamic Motion Planning for Mobile Robots Using Potential Field Method
Autonomous Robots
Characterization of zero tracking error references in the kinematic control of wheeled mobile robots
Robotics and Autonomous Systems
A new strategy in dynamic time-dependent motion planing for nonholonomic mobile robots
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Target tracking and obstacle avoidance for multi-agent systems
International Journal of Automation and Computing
Fuzzy virtual objects for real-time moving control of mobile robot in dynamic environments
CIMMACS '10 Proceedings of the 9th WSEAS international conference on computational intelligence, man-machine systems and cybernetics
Target tracking and obstacle avoidance for multi-agent networks with input constraints
International Journal of Automation and Computing
A new hybrid navigation algorithm for mobile robots in environments with incomplete knowledge
Knowledge-Based Systems
A new method for mobile robots to avoid collision with moving obstacle
Artificial Life and Robotics
A path conditioning method with trap avoidance
Robotics and Autonomous Systems
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Potential field method has been widely used for mobile robot path planning, but mostly in a static environment where the target and the obstacles are stationary. The path planning result is normally the direction of the robot motion. In this paper, the potential field method is applied for both path and speed planning, or the velocity planning, for a mobile robot in a dynamic environment where the target and the obstacles are moving. The robot's planned velocity is determined by relative velocities as well as relative positions among robot, obstacles and targets. The implementation factors such as maximum linear and angular speed of the robot are also considered. The proposed approach guarantees that the robot tracks the moving target while avoiding moving obstacles. Simulation studies are provided to verify the effectiveness of the proposed approach.