Local Path Planning of a Mobile Robot Using a Novel Grid-Based Potential Method

Jun-Ho Jung,Dong-Hun Kim 한국지능시스템학회 2020 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.20 No.1

This paper proposes the local path planning of a mobile robot using a novel grid-based potential method. The proposed method can be easily applied to a robotic system in a real environment because it is designed based on actual sensors. This method solves the local minimum problems that occur frequently in the potential field. A new repulsive field is created between adjacent obstacles that a mobile robot cannot pass through by calculating the distance between the robot and the obstacles. The generated repulsion field causes a mobile robot to escape from the local minimum. MATLAB simulations are used to compare the proposed and conventional potential field methods.

지역 국소점 문제 해결을 위한 Wall following 기반의 Advanced PFM 개발

정광민,심귀보 제어로봇시스템학회 2010 제어로봇시스템학회 국내학술대회 논문집 Vol.2010 No.5

The popularity of autonomous mobile robots have been rapidly increasing due to their new emerging application areas, from room cleaning, tourist guidance to space explorations. However, the development of a satisfactory control algorithm that will enable the autonomous mobile robots to navigate safely especially in dynamic environments is still an open research problem. In this paper, a newly proposed potential field. Defects of Potential Field Method are trap(fall in local minimum) phenomenon occurs, phenomenon that does not pass between the two near obstacle occur and if suddenly narrow the width of the road, vibration occurs. In this paper, I propose wall following concept for solutions to the defects. The experimental results are presented to show the effectiveness of the advanced PFM based on wall fellowing for local minimum problem solve.

Spontaneous Oscillatory Rhythm in Retinal Activities of Two Retinal Degeneration (rd1 and rd10) Mice

구용숙,Kun No Ahn,Yeong Jun Song,Su Heok Ahn,한승기,류상백,김경환 대한약리학회 2011 The Korean Journal of Physiology & Pharmacology Vol.15 No.6

Previously, we reported that besides retinal ganglion cell (RGC) spike, there is ∼10 Hz oscillatory rhythmic activity in local field potential (LFP) in retinal degeneration model, rd1 mice. The more recently identified rd10 mice have a later onset and slower rate of photoreceptor degeneration than the rd1 mice, providing more therapeutic potential. In this study, before adapting rd10 mice as a new animal model for our electrical stimulation study, we investigated electrical characteristics of rd10 mice. From the raw waveform of recording using 8×8 microelectrode array (MEA) from in vitro-whole mount retina, RGC spikes and LFP were isolated by using different filter setting. Fourier transform was performed for detection of frequency of bursting RGC spikes and oscillatory field potential (OFP). In rd1 mice, ∼10 Hz rhythmic burst of spontaneous RGC spikes is always phase-locked with the OFP and this phase-locking property is preserved regardless of postnatal ages. However, in rd10 mice, there is a strong phase-locking tendency between the spectral peak of bursting RGC spikes (∼5 Hz) and the first peak of OFP (∼5 Hz) across different age groups. But this phase-locking property is not robust as in rd1 retina, but maintains for a few seconds. Since rd1 and rd10 retina show phase-locking property at different frequency (∼10 Hz vs. ∼5 Hz), we expect different response patterns to electrical stimulus between rd1 and rd10 retina. Therefore, to extract optimal stimulation parameters in rd10 retina, first we might define selection criteria for responding rd10 ganglion cells to electrical stimulus.

Spontaneous Oscillatory Rhythm in Retinal Activities of Two Retinal Degeneration (rd1 and rd10) Mice

Goo, Yong-Sook,Ahn, Kun-No,Song, Yeong-Jun,Ahn, Su-Heok,Han, Seung-Kee,Ryu, Sang-Baek,Kim, Kyung-Hwan The Korean Society of Pharmacology 2011 The Korean Journal of Physiology & Pharmacology Vol.15 No.6

Previously, we reported that besides retinal ganglion cell (RGC) spike, there is ~10 Hz oscillatory rhythmic activity in local field potential (LFP) in retinal degeneration model, rd1 mice. The more recently identified rd10 mice have a later onset and slower rate of photoreceptor degeneration than the rd1 mice, providing more therapeutic potential. In this study, before adapting rd10 mice as a new animal model for our electrical stimulation study, we investigated electrical characteristics of rd10 mice. From the raw waveform of recording using $8{\times}8$ microelectrode array (MEA) from in vitro-whole mount retina, RGC spikes and LFP were isolated by using different filter setting. Fourier transform was performed for detection of frequency of bursting RGC spikes and oscillatory field potential (OFP). In rd1 mice, ~10 Hz rhythmic burst of spontaneous RGC spikes is always phase-locked with the OFP and this phase-locking property is preserved regardless of postnatal ages. However, in rd10 mice, there is a strong phase-locking tendency between the spectral peak of bursting RGC spikes (~5 Hz) and the first peak of OFP (~5 Hz) across different age groups. But this phase-locking property is not robust as in rd1 retina, but maintains for a few seconds. Since rd1 and rd10 retina show phase-locking property at different frequency (~10 Hz vs. ~5 Hz), we expect different response patterns to electrical stimulus between rd1 and rd10 retina. Therefore, to extract optimal stimulation parameters in rd10 retina, first we might define selection criteria for responding rd10 ganglion cells to electrical stimulus.

A New Technique to Escape Local Minimum in Artificial Potential Field Based Path Planning

Park, Min-Gyu,Lee, Min-Cheol The Korean Society of Mechanical Engineers 2003 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.17 No.12

The artificial potential field (APF) methods provide simple and efficient motion planners for practical purposes. However, these methods have a local minimum problem, which can trap an object before reaching its goal. The local minimum problem is sometimes inevitable when an object moves in unknown environments, because the object cannot predict local minima before it detects obstacles forming the local minima. The avoidance of local minima has been an active research topic in the potential field based path planing. In this study, we propose a new concept using a virtual obstacle to escape local minima that occur in local path planning. A virtual obstacle is located around local minima to repel an object from local minima. We also propose the discrete modeling method for the modeling of arbitrary shaped objects used in this approach. This modeling method is adaptable for real-time path planning because it is reliable and provides lower complexity.

이동 로봇의 자율 주행을 위한 전위장 방법과 임시 안내점을 이용한 지역 경로 계획

박지관(Ji-Gwan Park),신진호(Jin-Ho Shin) 한국정보기술학회 2012 한국정보기술학회논문지 Vol.10 No.8

This paper proposes a local path planning method which makes an autonomous mobile robot reach a goal point safely and effectively using a potential field method and temporary guidance points in unknown environments. The temporary guidance points are the interim points generated to guide a robot effectively to a goal point. The presented method generates the temporary guidance points consecutively using the local informations of the sensors. A mobile robot moves to the temporary guidance points using a potential field method and finally arrives at a goal point. The proposed potential field method and temporary guidance points overcome the shortcomings of the conventional potential field method and facilitate the effective obstacle avoidance and robot navigation without the additional parameter tuning in unknown various environments. The validity and usefulness of the proposed method are shown through the simulation results.

Heuristic Guided Artificial Potential Field for Avoidance of Small Obstacles

Sagar Dalai,Mahammad Irfan,Samarth Singh,Kaushal Kishore,Dr. S.A Akbar 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10

In this paper, a modified heuristic guided Artificial Potential Field (APF) based algorithm has been proposed to find a practical trajectory for an Autonomous Unmanned Aerial Vehicle (UAV) path planning. The local minima are encountered in the conventional APF algorithm due to the cancellation of attractive and repulsive potential while avoiding unknown obstacles within the desired path, which results in the trapping of the agent before reaching the goal. Consequently, the traditional APF technique is therefore no longer advantageous in such cases. So in this proposed perpendicular approach based on APF helps to avoid such local minima. The advantage of the newly proposed method is the low computing time that lines up with the standard global path planner method. The proposed algorithm is tested and validated against existing general potential field techniques for different simulation scenarios in a 3D simulated environment using ROS and Gazebo supported PX4-SITL. The results have been presented for drone navigation and obstacle avoidance for the different scenarios in a simulated environment.

Mobile Robot Path Planning Based on Dynamic Fuzzy Artificial Potential Field Method

Qiang Song,Lingxia Liu 보안공학연구지원센터 2012 International Journal of Hybrid Information Techno Vol.5 No.4

Analysis of Electrode Configuration of Underwater Electric Field Sensor on Electric-Field-based Localization for Underwater Robots

Jason Kim,Ingyu Lee,Meungsuk Lee,Ki-Woong Bae,Son-Cheol Yu 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11

This paper addresses the effects of electrode configurations of an underwater electric field sensor (EFS) on the localization of underwater robots when the robots used electric field measurements to estimate their positions. Around an underwater electric landmark that generates a known electric field signature, an underwater robot equipped with an EFS can measure the signature to localize itself by searching for the position that minimizes the difference between the actual measurement and the theoretical calculation that should be measured when the robot is located at the position. The underwater robot’s localization accuracy was analyzed in simulations when the robot was equipped with EFSs with different electrode configurations. In general, the electric field measurement accuracy and the consequent robot localization accuracy were higher when the robot was equipped with the EFS that consists of more electrodes. Depending on the measurement conditions, however, the use EFSs with less electrodes was enough to perform sufficiently accurate localization of the robot. The proposed simulation method would contribute to suggest the optimal electrode configuration of the EFS, and therefore, the robot localization with the electric field measurements would become more energy-efficient with the use of the suggested cheap and small EFS.

Intelligent Vehicle for Collision Avoidance Using Artificial Potential Field with Speed Variation

Pengfei Lin(임붕비),Woo Young Choi(최우영),Chung Choo Chung(정정주) 한국자동차공학회 2020 한국자동차공학회 부문종합 학술대회 Vol.2020 No.7

In this paper, we present a novel approach for waypoint tracking scheme with a local path planner based on the artificial potential field (APF) to avoid dynamic obstacles. It is reported that APF is highly efficient in collision-avoidance issues, but there is less work combining the waypoint tracking with APF-based local path planner. To enrich this field, a waypoint tracking using APF with speed variation is proposed to prevent the possibly excessive tire slip angle when the vehicle is driven at a high speed. The simulation results show that the proposed algorithm is effective in collision avoidance with dynamic obstacles, especially for waypoint tracking scenario. The proposed system framework is validated with the vehicle dynamic lateral motion model in MATLAB/Simulink and CarSim.