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The Transactions P of the Korean Institute of Electrical Engineers

Korean Journal of Air-Conditioning and Refrigeration Engineering

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Title	Path Planning of Mobile Robot using Weighted Potential Function with Obstacle Avoidance
Authors	김진환(Kim, Jin-Hwan)
Page	pp.15-19
ISSN	1229-800X
Keywords	Potential Field ; FIRAS ; GNRON ; WGTGNRON
Abstract	This paper presents the potential field for mobile robot path planning. The proposed repulsive potential has weighted parts, which consists of conventional repulsive potential and goals nonreachable with obstacles nearby repulsive potential. It ensures the global minimum of the total potential when the robot approaches goals near obstacle and the robot passes the adjacent obstacles. Simulation results shows that the proposed potential is better than conventional potentials.

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