Artificial potential field with discrete map transformation for feasible indoor path planning

Muhammad Zulfaqar Azmi, Toshio Ito

Research output: Contribution to journalArticlepeer-review

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.

Original languageEnglish
Article number8987
Pages (from-to)1-13
Number of pages13
JournalApplied Sciences (Switzerland)
Volume10
Issue number24
DOIs
Publication statusPublished - 2020 Dec 2

Keywords

  • Artificial potential field
  • Lidar data
  • Map transformation

ASJC Scopus subject areas

  • Materials Science(all)
  • Instrumentation
  • Engineering(all)
  • Process Chemistry and Technology
  • Computer Science Applications
  • Fluid Flow and Transfer Processes

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