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论文类型：期刊论文

发表时间：2016-08-01

发表刊物：ASSEMBLY AUTOMATION

收录刊物：SCIE、EI、Scopus

卷号：36

期号：3

页面范围：318-332

ISSN号：0144-5154

关键字：Collision avoidance; Artificial potential field; Obstacle envelope modelling

摘要：Purpose - This paper aims to investigate the collision avoidance problem for a mobile robot by constructing an artificial potential field (APF) based on geometrically modelling the obstacles with a new method named the obstacle envelope modelling (OEM).
   Design/methodology/approach - The obstacles of arbitrary shapes are enveloped in OEM using the primitive, which is an ellipse in a two-dimensional plane or an ellipsoid in a three-dimensional space. As the surface details of obstacles are neglected elegantly in OEM, the workspace of a mobile robot is made simpler so as to increase the capability of APF in a clustered environment.
   Findings - Further, a dipole is applied to the construction of APF produced by each obstacle, among which the positive pole pushes the robot away and the negative pole pulls the robot close.
   Originality/value - As a whole, the dipole leads the robot to make a derivation around the obstacle smoothly, which greatly reduces the local minima and trajectory oscillations. Computer simulations are conducted to demonstrate the effectiveness of the proposed approach.