Abstract

ESPITIA CUCHANGO, Helbert Eduardo  and  SOFRONY ESMERAL, Jorge Iván. A PATH PLANNING ALGORITHM FOR MOBILE ROBOTS USING POTENTIAL FIELDS AND SWARMS OF ACTIVE BROWNIAN PARTICLES. Cienc. Ing. Neogranad. [online]. 2012, vol.22, n.2, pp.75-96. ISSN 0124-8170.

ABSTRACT This paper offers a proposal of an algorithm for path planning based on a model of active Brownian particles. There are several methods for trajectory planning in mobile robotics, and the most known is based on artificial potential fields; however this method has a disadvantage of local minima which can make the robot fails to reach the destination. Although applications have been made to avoid local minima using swarms of particles, this proposal seeks to use a compact model that allows the trajectory planning eluding local minima.

Keywords : mobile robotics; path planning; active Brownian particles.

        · abstract in Spanish     · text in Spanish     · Spanish ( pdf )