PLANNING ROBOT TRAJECTORIES USING A MODIFIED ARTIFICIAL POTENTIAL METHOD

摘要

The purpose of the paper is to introduce a multi-stage trajectory planning algorithm for mobile robots. Unmanned Ground Vehicles (UGVs) and Unmanned Aerial Vehicles (UAVs) became very popular in the last few years. Many military and civil applications can be found in real life. One of the most challenging issues regarding UGVs and UAVs concern their autonomous control in environment with obstacles. The proposed algorithm is based on an isoline method, modification of the artificial potential field method, designed to efficiently escape local minima of the artificial potential function.