Journal
INTERNATIONAL JOURNAL OF FUZZY LOGIC AND INTELLIGENT SYSTEMS
Volume 18, Issue 4, Pages 263-275Publisher
KOREAN INST INTELLIGENT SYSTEMS
DOI: 10.5391/IJFIS.2018.18.4.263
Keywords
Path planning; Mobile manipulator; Artificial potential based planner; Attractive force rotation and restoration algorithm
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Funding
- Korea Institute of Industrial Technology under Development of Soft Robotics Technology for Human-Robot Coexistence Care Robots [EO180026]
- National Research Council of Science & Technology (NST), Republic of Korea [EO180026] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
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This paper proposes a subplanner algorithm, which will be referred to as attractive force rotation and restoration, to compensate the local minima problem under the artificial potential based planner. The key role of the proposed subplanner is to build a navigating path for escaping from the local minima by rotating and restoring the attractive force. A mobile manipulator was adopted as our robotic application to substantiate the capability of the proposed subplanner under various simulation scenarios in which the mobile manipulator finds a path to a target object without collision against stationary/moving obstacles. The simulation results substantiated that the compensated artificial potential based planner successfully found a path to guide the mobile manipulator to the target object in the presence of the local minima.
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