TY - JOUR
T1 - Pseudo-bacterial potential field based path planner for autonomous mobile robot navigation
AU - Orozco-Rosas, Ulises
AU - Montiel, Oscar
AU - Sepúlveda, Roberto
N1 - Publisher Copyright:
© 2015 Author(s). Licensee InTech.
PY - 2015/7/1
Y1 - 2015/7/1
N2 - This paper introduces the pseudo-bacterial potential field (PBPF) as a new path planning method for autonomous mobile robot navigation. The PBPF allows us to obtain an optimal and safe path, in contrast to the classical potential field approach which is not suitable for path planning because it lacks a means of obtaining the optimal proportional gains. The PBPF uses the pseudo-bacterial genetic algorithm (PBGA) and a fitness function based on the potential field concepts to construct viable paths in dynamical environments to mostly result in the optimal path being obtained. Comparative experiments of sequential and parallel implementations of the PBPF for off-line and online in structured and unstructured conditions are presented; the results are contrasted with the artificial potential field (APF) method to demonstrate how the PBPF proposal overcomes the traditional method.
AB - This paper introduces the pseudo-bacterial potential field (PBPF) as a new path planning method for autonomous mobile robot navigation. The PBPF allows us to obtain an optimal and safe path, in contrast to the classical potential field approach which is not suitable for path planning because it lacks a means of obtaining the optimal proportional gains. The PBPF uses the pseudo-bacterial genetic algorithm (PBGA) and a fitness function based on the potential field concepts to construct viable paths in dynamical environments to mostly result in the optimal path being obtained. Comparative experiments of sequential and parallel implementations of the PBPF for off-line and online in structured and unstructured conditions are presented; the results are contrasted with the artificial potential field (APF) method to demonstrate how the PBPF proposal overcomes the traditional method.
KW - Artificial potential field
KW - Autonomous mobile robot navigation
KW - Path planning
KW - Pseudo-Bacterial genetic algorithm
KW - Pseudo-Bacterial potential field
UR - http://www.scopus.com/inward/record.url?scp=84938632462&partnerID=8YFLogxK
U2 - 10.5772/60715
DO - 10.5772/60715
M3 - Artículo
SN - 1729-8806
VL - 12
JO - International Journal of Advanced Robotic Systems
JF - International Journal of Advanced Robotic Systems
ER -