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Artificial Potential Field with Discrete Map Transformation for Feasible Indoor Path Planning
- Source :
- Applied Sciences, Vol 10, Iss 24, p 8987 (2020)
- Publication Year :
- 2020
- Publisher :
- MDPI AG, 2020.
-
Abstract
- This work considers the path planning problem of personal mobility vehicle (PMV) for indoor navigation using the Artificial Potential Field (APF) method. The APF method sometimes suffers from an infinite loop problem during the planning phase when the goal is blocked by obstacles with certain characteristics. To address the issue, this study deploys the map augmentation method for replanning. When infinite loop situations occur, the map is transformed and the search for drivable path is initiated. The method successfully generates a feasible trajectory when the map is rotated at a certain angle. The scenario of successful planning is shown in the result.
Details
- Language :
- English
- ISSN :
- 20763417
- Volume :
- 10
- Issue :
- 24
- Database :
- Directory of Open Access Journals
- Journal :
- Applied Sciences
- Publication Type :
- Academic Journal
- Accession number :
- edsdoj.f200a201db5e4295bfbc4956ffba2e4f
- Document Type :
- article
- Full Text :
- https://doi.org/10.3390/app10248987