The traditional artificial potential field (APF) method is widely used for motion planning of traditional mobile robot, but there is little research about the application to the omnidirectional mobile robot (OMR). To propose a more suitable motion planning for OMR, an evolutional APF is presented in this paper, by introducing the revolving factor into the APF. The revolving factor synthesizes the anisotropy of OMR and the affect of dynamic environment. Finally simulation is carried out to demonstrate that, the evolutional APF is a high-speed and high-efficiency motion planning by comparing with the traditional APF, and the advantages of OMR is exerted.

Date Published: 9 January 2008
PDF: 6 pages
Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 67942C (9 January 2008); doi: 10.1117/12.784488

Published in SPIE Proceedings Vol. 6794:
ICMIT 2007: Mechatronics, MEMS, and Smart Materials
Minoru Sasaki; Gisang Choi Sang; Zushu Li; Ryojun Ikeura; Hyungki Kim; Fangzheng Xue, Editor(s)