Open AccessWeighted virtual tangential vector algorithm for local path planning of mobile robots
Author(s) -
Kwak Kyung Woon,
Kim KyungSoo,
Kim Soohyun
Publication year - 2013
Publication title -
electronics letters
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.375
H-Index - 146
ISSN - 1350-911X
DOI - 10.1049/el.2012.3893
Subject(s) - obstacle , mobile robot , obstacle avoidance , path (computing) , motion planning , computer science , robot , computer vision , artificial intelligence , feature (linguistics) , algorithm , velocity vector , feature vector , engineering , aerospace engineering , programming language , linguistics , philosophy , political science , law
A real‐time path generation method for a mobile robot is newly proposed based on the virtual tangential vector (VTV). The VTV is for imposing a feature to drive a robot along with the tangential direction to a circular obstacle virtually generated in real‐time. Subjected to multiple obstacles, a weighted resultant vector of all the VTVs, so‐called weighted VTV (WVTV), is defined. Together with the conventional objectives such as the goal attractive vector and the obstacle repulsive vector, the WVTV is included in a multi‐objective optimisation framework. Significant performance enhancements are demonstrated by simulations for complicated unknown environments.