Modified Approach Using Variable Charges to Solve Inherent Limitations of Potential Fields Method.

被引：0

作者：

Pinto, Milena F. ^{[1
]}

Mendonca, Thiago R. F. ^{[1
]}

Olivi, Leornardo R. ^{[1
]}

Costa, Exuperry B. ^{[1
]}

Marcato, Andre L. M. ^{[1
]}

机构：

[1] Univ Fed Juiz de Fora, Dept Elect Engn, UFJF, Juiz De Fora, Brazil

来源：

2014 11TH IEEE/IAS INTERNATIONAL CONFERENCE ON INDUSTRY APPLICATIONS (INDUSCON) | 2014年

关键词：

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

There are several methods to control robot's trajectories. The potential fields technique is one of the simplest algorithms that require less computational resources. This work presents a modified version of the potential fields method using variable charge and adapted attractive fields that allows the robot to achieve the goal in dynamical and complex environment which the original approach is not able to solve. The algorithm has been validated using the MobileSim simulator together with Matlab. The results prove the algorithm efficiency in schemes with multiple local minima, goal close to obstacles and less oscillation in narrow passages. This control method can be used in industrial applications such as automatic forklift operation, robotic manipulators and wheeled robots.

引用

页数：6

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