An Improved Algorithm for Obstacle Avoidance by Follow the Gap Method Combined Potential Field

被引：0
|
作者：
La-orworrakhun, Chakhrit [1 ]
Natsupakpong, Suriya [1 ]
机构：
[1] King Mongkuts Univ Technol Thonburi, Inst Field Robot, 26 Pracha Uthit Rd, Bangkok 10140, Thailand
来源：
ICAROB 2017: PROCEEDINGS OF THE 2017 INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS | 2017年
关键词：
Survey boat; Obstacle Avoidance; Follow the Gap Method; Potential Field Method; Simulation;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
A novel obstacle avoidance algorithm for boat survey, "Follow the Gap Plus", is proposed by combining the "Follow the Gap" method and adapting the "Potential Field" method with an attractive field of obstacles. Then the simulation environment for testing algorithm are generated in various situations with real-world-like environment. The results show that the proposed algorithm can go to the desired destination with better performance than "Follow the Gap" method in the environment with obstacles about 4.47% of total distance, about 7.63% of total time used, and about 54.33% of average change of direction.
引用
收藏
页码：P613 / P616
页数：4
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