Comparison of Waypoint tracking by Local Path Planning alg.

Comparison of Artificial Potential Field (APF), Vortex APF, Safe APF, and Dynamic Windows Approach for waypoint tracking problem.

Comparison of the following local path planning algorithms for the waypoint tracking problem:

• Artificial Potential Field algorithm [1]
• Vortex Artificial Potential Field algorithm [2],
• Safe Artificial Potential Field algorithm (paper under review),
• Dynamic Window Approach [3].

The environment with obstacles is randomly generated. Global path is generated using occupancy grid map and A-star algorithm.

[1] O. Khatib, “Real-time obstacle avoidance for manipulators and mobile robots,” in Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2. IEEE, 1985, pp. 500–505

[2] X. Yun and K.-C. Tan, “A wall-following method for escaping local minima in potential field based motion planning,” in 1997 8th International Conference on Advanced Robotics. Proceedings. ICAR’97. IEEE, 1997, pp. 421–426

[3]D. Fox, W. Burgard, and S. Thrun, “The dynamic window approach to collision avoidance,” IEEE Robotics & Automation Magazine, vol. 4, no. 1, pp. 23–33, 1997.