A New Artificial Potential Field Based Global Path Planning Algorithm for Mobile Robot Navigation

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dc.authorwosidBaran, Eray/U-3499-2019
dc.contributor.authorAl Jabari, Hamzah
dc.contributor.authorAlobahji, Abdulrahman
dc.contributor.authorBaran, Fray A.
dc.date.accessioned2024-07-18T20:47:19Z
dc.date.available2024-07-18T20:47:19Z
dc.date.issued2022
dc.departmentİstanbul Bilgi Üniversitesien_US
dc.description17th IEEE International Conference on Advanced Motion Control (AMC) -- FEB 18-20, 2022 -- ELECTR NETWORKen_US
dc.description.abstractThis paper proposes a navigation algorithm for indoor mobile robots in unknown and unstructured environments using a modified Artificial Potential Fields (APF) approach. The proposed algorithm takes into consideration the well-known drawbacks of the APF such as local minima, U-Shaped traps, box canyon and the goal non-reachable with obstacles nearby (GNRON) and implies certain modifications to address those problems. The proposed method is tested in a series of simulations performed on actual lidar measurement data and taking into consideration the problems mentioned above. The results of the simulations confirm the performance of the proposed method yielding a robust and fast algorithm for indoor localization and navigation of mobile robots.en_US
dc.description.sponsorshipIEEEen_US
dc.description.sponsorshipIstanbul Bilgi University [RDI.2020.1]en_US
dc.description.sponsorshipThis study is partially supported by the Internal Research Grant RDI.2020.1 of Istanbul Bilgi University.en_US
dc.identifier.doi10.1109/AMC51637.2022.9729318
dc.identifier.endpage449en_US
dc.identifier.isbn978-1-7281-7711-3
dc.identifier.issn1943-6572
dc.identifier.startpage444en_US
dc.identifier.urihttps://doi.org/10.1109/AMC51637.2022.9729318
dc.identifier.urihttps://hdl.handle.net/11411/7768
dc.identifier.wosWOS:000803053000073en_US
dc.identifier.wosqualityN/Aen_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.language.isoenen_US
dc.publisherIEEEen_US
dc.relation.ispartof2022 Ieee 17th International Conference on Advanced Motion Control (Amc)en_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectArtificial Potential Fieldsen_US
dc.subjectWaypoint Generationen_US
dc.subjectIndoor Navigationen_US
dc.subjectObstacle Avoidanceen_US
dc.titleA New Artificial Potential Field Based Global Path Planning Algorithm for Mobile Robot Navigation
dc.typeConference Object

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