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This paper first describes the problem of goals nonreachable with obstacles nearby when using potential field methods for mobile robot path planning. Then, new repulsive potential functions are presented by taking the relative distance between the robot and the goal into consideration, which ensures that the goal position is the global minimum of the total(More)
The potential eld method is widely used for autonomous mobile robot path planning due to its elegant mathematical analysis and simplicity. However, most researches were focused on solving the motion planning problem in a stationary environment, where both targets and obstacles are stationary. This paper proposes a new potential eld method for motion(More)
The Global Positioning System (GPS) has been widely used in land vehicle navigation applications. However, the positioning systems based on GPS alone face great problems in the so called urban canyon environments where the GPS signals are often blocked by high buildings and there are not enough available satellites signals to estimate the positioning(More)
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