The International Journal of Fuzzy Logic and Intelligent Systems

eISSN 2093-744X
pISSN 1598-2645

APBP for a mobile manipulator path planning with subplanner AFRORE for escaping from local minima

Given qinit, qgoal, localmin and t0
• Initialize: qqinit, γ(t0) ← qinit, localminfalse
/ * Atractive Potential Based Planner * /
WHILEq is not qgoal
 • Calculate from Fatt,i(pi(q)) and Frep,i,j(pi(q)) Eq. (12)
IF
  • localmintrue
  • Detect local minimum type: type Eq. (19) and Eq. (20)
  • Run AFRORE(localmin, type) (see Table 2)
ELSE
  • Plan a next configuration: Eq. (13)
  • Increase a time stamp: s′ss Eq. (14)
  • Assign q′ to a path: γ(s′) ← q′ Eq. (14)
  • Update: ss′, qq′, pi(q) ← pi(q′) Eq. (15)
END
• Finalize: tfs and γ(tf ) ← qgoal
RETURNγ
International Journal of Fuzzy Logic and Intelligent Systems 2018;18:263~275 https://doi.org/10.5391/IJFIS.2018.18.4.263
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