![](/images/graphics-bg.png)
Motion Planning for Omnidirectional Wheeled Mobile Robot by Potential Field Method
Joint Authors
Yang, Chenguang
Su, Chunyi
Jiang, Yiming
Liu, Xiaofeng
Li, Weihao
Source
Journal of Advanced Transportation
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-03-12
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Li, Weihao& Yang, Chenguang& Jiang, Yiming& Liu, Xiaofeng& Su, Chunyi. 2017. Motion Planning for Omnidirectional Wheeled Mobile Robot by Potential Field Method. Journal of Advanced Transportation،Vol. 2017, no. 2017, pp.1-11.
https://search.emarefa.net/detail/BIM-1170736
Modern Language Association (MLA)
Li, Weihao…[et al.]. Motion Planning for Omnidirectional Wheeled Mobile Robot by Potential Field Method. Journal of Advanced Transportation No. 2017 (2017), pp.1-11.
https://search.emarefa.net/detail/BIM-1170736
American Medical Association (AMA)
Li, Weihao& Yang, Chenguang& Jiang, Yiming& Liu, Xiaofeng& Su, Chunyi. Motion Planning for Omnidirectional Wheeled Mobile Robot by Potential Field Method. Journal of Advanced Transportation. 2017. Vol. 2017, no. 2017, pp.1-11.
https://search.emarefa.net/detail/BIM-1170736
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1170736