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Levenberg-Marquardt based artificial physics method for mobile robot oscillation alleviation

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Abstract

This paper proposed a modified artificial physics (AP) method to solve the autonomous navigation problem for mobile robots in complex environments. The basic AP method tends to cause oscillations in the presence of obstacles and in narrow passages, which can result in time consumption. To alleviate oscillation, we modified the AP method using the Levenbery-Marquardt (LM) algorithm. In the modified AP method, we altered the original directions of AP forces to the Newton direction, and adjust the parameter by the LM algorithm. A series of comparative experimental results show that the modified AP method can achieve smoother trajectories with less time consumption. This demonstrates the feasibility and effectiveness of our proposed approach.

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Authors and Affiliations

  1. State Key Laboratory of Virtual Reality Technology and Systems, Beihang University, Beijing, 100191, China

    XiangYin Zhang & HaiBin Duan

  2. Science and Technology on Aircraft Control Laboratory, School of Automation Science and Electrical Engineering, Beihang University, Beijing, 100191, China

    HaiBin Duan & QiNan Luo

Authors
  1. XiangYin Zhang
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  2. HaiBin Duan
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  3. QiNan Luo
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Correspondence to HaiBin Duan.

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Zhang, X., Duan, H. & Luo, Q. Levenberg-Marquardt based artificial physics method for mobile robot oscillation alleviation. Sci. China Phys. Mech. Astron. 57, 1771–1777 (2014). https://doi.org/10.1007/s11433-013-5244-9

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  • DOI: https://doi.org/10.1007/s11433-013-5244-9

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