Virtual local target method for avoiding local minimum in potential field based robot navigation

ZOU Xi-yong(×ÞϸÓÂ)(College of Electrical Engineering, National Laboratory of Industrial Control Technology,Zhejiang University, Hangzhou 310027, China)
ZHU Jing(Öî¾²)(College of Electrical Engineering, National Laboratory of Industrial Control Technology,Zhejiang University, Hangzhou 310027, China)

Abstract:A novel robot navigation algorithm with global path generation capability is presented. Local minimum is a most intractable but is an encountered frequently problem in potential field based robot navigation. Through appointing appropriately some virtual local targets on the journey, it can be solved effectively. The key concept employed in this algorithm are the rules that govern when and how to appoint these virtual local targets. When the robot finds itself in danger of local minimum, a virtual local target is appointed to replace the global goal temporarily according to the rules. After the virtual target is reached, the robot continues on its journey by heading towards the global goal. The algorithm prevents the robot from running into local minima anymore. Simulation results showed that it is very effective in complex obstacle environments.
Keywords:Local minimum, Virtual local target, Rules, Potential field based robot navigation

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Manuscript Received:2002 June 3

Manuscript Revised:2002 Aug. 10

Published:2003 June 1