GOAL DIRECTED ROBOT NAVIGATION IN A KNOWN INDOOR ENVIRONMENT WITH UNKNOWN STATIONARY AND MOVING OBSTACLES

In this thesis, the author proposes a new type of artificial potential field used to navigate a robot in situations in which the environment is known except for unknown and possibly moving obstacles. Known as a hybrid potential field, it is composed of a static global artificial potential field which pulls the robot to the goal and a dynamic local artificial potential field which pushes the robot away from obstacles. The causes of local minima in hybrid potential fields are determined and methods for getting out of these minima are proposed. It is shown how to compute hybrid potential fields in real time and use them to control the motion of a real robot.

• Supplemental Notes:
  • Publication Date: 1992 Published By: University Microfilms International, Ann Arbor, Mich. Remarks: Thesis (Ph. D.)--University of Minnesota, 1992
• Corporate Authors:

  University of Minnesota, Minneapolis

  HumanFIRST Program, 111 Church Street, SE
  Minneapolis, MN  United States  55455
• Authors:
  • Ratering, Steven James
• Publication Date: 1992

Language

• English

Media Info

• Pagination: vi, 118 p.

Subject/Index Terms

• TRT Terms: Robotics

Filing Info

• Accession Number: 00785177
• Record Type: Publication
• Source Agency: UC Berkeley Transportation Library
• Files: PATH
• Created Date: Nov 17 2000 12:00AM