Abstract
A new algorithm based on an artificial potential field and hierarchical cell decomposition technique is developed to solve the find-path problem for a mobile robot. The basic cell structure used for decomposition is a hexagon. The artificial potential field is based on an attractive force from the goal position and repelling forces from the obstacles. Computer simulations of the algorithm for various obstacle scenarios are also presented.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 1005-1010 |
| Number of pages | 6 |
| Journal | Proceedings of the IEEE International Conference on Systems, Man and Cybernetics |
| Volume | 2 |
| State | Published - 1991 |
| Event | Conference Proceedings of the 1991 IEEE International Conference on Systems, Man, and Cybernetics - Charlottesville, VA, USA Duration: Oct 13 1991 → Oct 16 1991 |
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Hardware and Architecture