期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2015
卷号：12
DOI：10.5772/60715
语种：English
出版社：SAGE Publications
摘要：This paper introduces the pseudo-bacterial potential field (PBPF) as a new path planning method for autonomous mobile robot navigation. The PBPF allows us to obtain an optimal and safe path, in contrast to the classical potential field approach which is not suitable for path planning because it lacks a means of obtaining the optimal proportional gains. The PBPF uses the pseudo-bacterial genetic algorithm (PBGA) and a fitness function based on the potential field concepts to construct viable paths in dynamical environments to mostly result in the optimal path being obtained. Comparative experiments of sequential and parallel implementations of the PBPF for off-line and on-line in structured and unstructured conditions are presented; the results are contrasted with the artificial potential field (APF) method to demonstrate how the PBPF proposal overcomes the traditional method.
关键词：Autonomous Mobile Robot Navigation; Path Planning; Pseudo-Bacterial Potential Field; Pseudo-Bacterial Genetic Algorithm; Artificial Potential Field
