Robot motion planning: a distributed representation approach
International Journal of Robotics Research
Computational principles of mobile robotics
Computational principles of mobile robotics
Robot Motion Planning
Dynamic Motion Planning for Mobile Robots Using Potential Field Method
Autonomous Robots
The virtual wall approach to limit cycle avoidance for unmanned ground vehicles
Robotics and Autonomous Systems
Modified Newton's method applied to potential field-based navigation for mobile robots
IEEE Transactions on Robotics
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
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Autonomous mobile robot path planning is a common topic for robotics and computational geometry. Many important results have been found, but a lot of issues are still veiled. This paper first describes new problem of symmetrically aligned robot-obstacle-goal (SAROG) when using potential field methods for mobile robot path planning. In addition, we consider constant robot speed for practical use. The SAROG and the constant speed involve two potential risks: robot-obstacle collision and local minima trap. For dealing with the two potential risks, we analyze the conditions of the collision and the local minima trap, and propose new potential functions and random force based algorithms. For the algorithm verification, we use WiRobot X80 with three ultrasonic range sensor modules.