A novel potential field method for path planning of mobile robots by adapting animal motion attributes

作者：Kovacs Bence; Szayer Geza; Tajti Ferenc; Burdelis Mauricio; Korondi Peter

来源：Robotics and Autonomous Systems, 2016, 82: 24-34.

DOI：10.1016/j.robot.2016.04.007

• Holonomic mobile robot
• Potential field
• On-line path planning
• Laser-scanner
• Animal motion attributes
• Dynamic environment

This paper presents a concept for path planning of mobile robots in household environments. The proposed algorithm takes communicative means of locomotion into account in order to facilitate human-robot interaction. The well-known traditional artificial potential field method (APF) was extended by motion characteristics of household animals. The proposed algorithm includes velocity and orientation information and can be used in unknown; dynamic environments. The main contribution of this paper is the definition of an online, local path planning method by adapting animal motion attributes in order to assist human-robot interaction. The algorithm was implemented in an embedded system and evaluated on MOGI-ETHON, a holonomic drive mobile robot.

• 出版日期2016-8