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Journal of Zhejiang University SCIENCE A 2003 Vol.4 No.3 P.264~269

http://doi.org/10.1631/jzus.2003.0264


Virtual local target method for avoiding local minimum in potential field based robot navigation


Author(s):  ZOU Xi-yong, ZHU Jing

Affiliation(s):  College of Electrical Engineering, National Laboratory of Industrial Control Technology,Zhejiang University, Hangzhou 310027, China

Corresponding email(s):   zouxiyong@163.net

Key Words:  Local minimum, Virtual local target, Rules, Potential field based robot navigation


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ZOU Xi-yong, ZHU Jing. Virtual local target method for avoiding local minimum in potential field based robot navigation[J]. Journal of Zhejiang University Science A, 2003, 4(3): 264~269.

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author="ZOU Xi-yong, ZHU Jing",
journal="Journal of Zhejiang University Science A",
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doi="10.1631/jzus.2003.0264"
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T1 - Virtual local target method for avoiding local minimum in potential field based robot navigation
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A1 - ZHU Jing
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Abstract: 
A novel robot navigation algorithm with global path generation capability is presented. local minimum is a most intractable but is an encountered frequently problem in potential field based robot navigation. Through appointing appropriately some virtual local targets on the journey, it can be solved effectively. The key concept employed in this algorithm are the rules that govern when and how to appoint these virtual local targets. When the robot finds itself in danger of local minimum, a virtual local target is appointed to replace the global goal temporarily according to the rules. After the virtual target is reached, the robot continues on its journey by heading towards the global goal. The algorithm prevents the robot from running into local minima anymore. Simulation results showed that it is very effective in complex obstacle environments.

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