Visual based path planning with adaptive artificial potential field

摘要

In this study, extracting a path plan has been aimed by using vision based and potential field methods together for a static obstacle hosted environment. Path extracting operations have been executed on image frame taken from real environment with eye-out-device configuration. An obstacle free path plan is uncovered between robot and target with adaptive potential field method by considering position of robot, target and obstacle which are detected by image process techniques. Updating process of functional parameters belonging to potential field has been ensured with proposed method by taking into account distances of robot sensors to obstacle and global positions of obstacles. As a result of this study, strengths of the proposed method have been put forth by comparing experimental results of adaptive and non-adaptive versions.