Advertisement

Robot Obstacle Avoidance Using Vortex Fields

  • Claudio De Medio
  • Giuseppe Oriolo
Conference paper

Abstract

A new method is presented for planning collision-free robot motions in the presence of workspace obstacles, based on the use of artificial potential fields. In previous approaches, obstacles are modeled by means of repulsive potentials, which give rise to local minima in the total field, possibly causing the planning algorithm to jam up. Instead, the core of the proposed technique is to place vortex fields around obstacles, forcing the robot to turn around them and preventing the generation of local minima. In conjunction with this, an effective planning algorithm is introduced, which is valid both for mobile robots and manipulators. Simulation results show the efficiency of the method.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. [1]
    J.E. Bobrow, “Optimal robot path planning using the minimum-time criterion”, IEEE Journal of Robotics and Automation, vol. RA-4, no. 4, pp. 443450, 1988.Google Scholar
  2. [2]
    E.G. Gilbert and D.W. Johnson, “Distance functions and their application to robot path planning in the presence of obstacles”, IEEE Journal of Robotics and Automation, vol. RA-1, no. 1, pp. 21–30, 1985.Google Scholar
  3. [3]
    O. Khatib, “Real-time obstacle avoidance for manipulators and mobile robots”, The International Journal of Robotics Research vol. 5, no. 1, pp. 90–99, 1986.Google Scholar
  4. [4]
    D.E. Koditschek, “Exact robot navigation by means of potential functions: some topological considerations”, in Proc. IEEE International Conference on Robotics and Automation (Raleigh, NC, Mar. 31— Apr. 3, 1987 ), pp. 16.Google Scholar
  5. [5]
    T. Lozano-Perez, “Spatial planning: a configuration space approach”, IEEE Transactions on Computer, vol. C-32, no. 2, pp. 108–120, 1983.Google Scholar
  6. [6]
    V.J. Lumelsky, “Dynamic path planning for a planar articulated robot arm moving amidst unknown obstacles”, Automatica, vol. 23, no. 5, pp. 551570, 1987.Google Scholar
  7. [7]
    W.S. Newman and N. Hogan, “High speed robot control and obstacle avoidance using dynamic potential functions”, in Proc. IEEE International Conference on Robotics and Automation (Raleigh, NC, Mar. 31— Apr. 3, 1987 ), pp. 14–24.Google Scholar
  8. [8]
    R. Volpe and P. Khosla, “Artificial potential with elliptical isopotential contours for obstacle avoidance”, in Proc. 28th Conference on Decision and Control (Los Angeles, CA, Dec. 9–11, 1987 ), pp. 180–185.Google Scholar

Copyright information

© Springer-Verlag Wien 1991

Authors and Affiliations

  • Claudio De Medio
    • 1
  • Giuseppe Oriolo
    • 1
  1. 1.Dipartimento di Informatica e SistemisticaUniversità degli Studi di Roma “La Sapienza”RomaItaly

Personalised recommendations