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Motion Planning for Omnidirectional Wheeled Mobile Robot by Potential Field Method

Weihao Li, Chenguang Yang, Yiming Jiang, Xiaofeng Liu, Chun-Yi Su

Journal of Advanced Transportation, Volume: 2017, Pages: 1 - 11

Swansea University Author: Chenguang Yang

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DOI (Published version): 10.1155/2017/4961383

Abstract

In this paper, potential field method has been used to navigate a three omnidirectional wheels’ mobile robot and to avoid obstacles. The potential field method is used to overcome the local minima problem and the goals nonreachable with obstacles nearby (GNRON) problem. For further consideration, mo...

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Published in: Journal of Advanced Transportation
ISSN: 0197-6729 2042-3195
Published: 2017
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URI: https://cronfa.swan.ac.uk/Record/cronfa32929
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first_indexed 2017-04-04T19:01:14Z
last_indexed 2018-04-13T19:15:42Z
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spelling 2018-04-13T15:29:52.4337469 v2 32929 2017-04-04 Motion Planning for Omnidirectional Wheeled Mobile Robot by Potential Field Method d2a5024448bfac00a9b3890a8404380b Chenguang Yang Chenguang Yang true false 2017-04-04 EEN In this paper, potential field method has been used to navigate a three omnidirectional wheels’ mobile robot and to avoid obstacles. The potential field method is used to overcome the local minima problem and the goals nonreachable with obstacles nearby (GNRON) problem. For further consideration, model predictive control (MPC) has been used to incorporate motion constraints and make the velocity more realistic and flexible. The proposed method is employed based on the kinematic model and dynamics model of the mobile robot in this paper. To show the performance of proposed control scheme, simulation studies have been carried to perform the motion process of mobile robot in specific workplace. Journal Article Journal of Advanced Transportation 2017 1 11 0197-6729 2042-3195 12 3 2017 2017-03-12 10.1155/2017/4961383 COLLEGE NANME Engineering COLLEGE CODE EEN Swansea University 2018-04-13T15:29:52.4337469 2017-04-04T15:18:08.4595700 Faculty of Science and Engineering School of Engineering and Applied Sciences - Uncategorised Weihao Li 1 Chenguang Yang 2 Yiming Jiang 3 Xiaofeng Liu 4 Chun-Yi Su 5 0032929-05042017115249.pdf li2017(5).pdf 2017-04-05T11:52:49.0500000 Output 1824111 application/pdf Version of Record true 2017-04-05T00:00:00.0000000 true eng
title Motion Planning for Omnidirectional Wheeled Mobile Robot by Potential Field Method
spellingShingle Motion Planning for Omnidirectional Wheeled Mobile Robot by Potential Field Method
Chenguang Yang
title_short Motion Planning for Omnidirectional Wheeled Mobile Robot by Potential Field Method
title_full Motion Planning for Omnidirectional Wheeled Mobile Robot by Potential Field Method
title_fullStr Motion Planning for Omnidirectional Wheeled Mobile Robot by Potential Field Method
title_full_unstemmed Motion Planning for Omnidirectional Wheeled Mobile Robot by Potential Field Method
title_sort Motion Planning for Omnidirectional Wheeled Mobile Robot by Potential Field Method
author_id_str_mv d2a5024448bfac00a9b3890a8404380b
author_id_fullname_str_mv d2a5024448bfac00a9b3890a8404380b_***_Chenguang Yang
author Chenguang Yang
author2 Weihao Li
Chenguang Yang
Yiming Jiang
Xiaofeng Liu
Chun-Yi Su
format Journal article
container_title Journal of Advanced Transportation
container_volume 2017
container_start_page 1
publishDate 2017
institution Swansea University
issn 0197-6729
2042-3195
doi_str_mv 10.1155/2017/4961383
college_str Faculty of Science and Engineering
hierarchytype
hierarchy_top_id facultyofscienceandengineering
hierarchy_top_title Faculty of Science and Engineering
hierarchy_parent_id facultyofscienceandengineering
hierarchy_parent_title Faculty of Science and Engineering
department_str School of Engineering and Applied Sciences - Uncategorised{{{_:::_}}}Faculty of Science and Engineering{{{_:::_}}}School of Engineering and Applied Sciences - Uncategorised
document_store_str 1
active_str 0
description In this paper, potential field method has been used to navigate a three omnidirectional wheels’ mobile robot and to avoid obstacles. The potential field method is used to overcome the local minima problem and the goals nonreachable with obstacles nearby (GNRON) problem. For further consideration, model predictive control (MPC) has been used to incorporate motion constraints and make the velocity more realistic and flexible. The proposed method is employed based on the kinematic model and dynamics model of the mobile robot in this paper. To show the performance of proposed control scheme, simulation studies have been carried to perform the motion process of mobile robot in specific workplace.
published_date 2017-03-12T03:40:30Z
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score 11.036706

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