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A one-dimensional (1D) virtual force field (VFF) algorithm for real-time reflexive local path planning of mobile robots is proposed. The 1D-VFF is composed of the virtual steering, obstacle and integrated force fields (IFFs). The steering force field (SFF) is generated by the local or global goal position. This SFF leads a mobile robot to the goal. The obstacle force field (OFF) is created by the raw data of a range measurement sensor (RMS). By this OFF, a mobile robot avoids obstacles. The IFF is produced by combining the steering and OFFs in which weights between 0 and 1 are multiplied. Through this IFF, a final steering command by which a mobile robot reaches a goal by avoiding obstacles is generated. Various simulations compare the performance of the proposed 1D-VFF with the weighted virtual tangential vector (WVTV), which is the recently suggested local path planning method to overcome the U-shaped enclosure problem.

A real‐time path generation method for a mobile robot is newly proposed based on the virtual tangential vector (VTV). The VTV is for imposing a feature to drive a robot along with the tangential direction to a circular obstacle virtually generated in real‐time. Subjected to multiple obstacles, a weighted resultant vector of all the VTVs, so‐called weighted VTV (WVTV), is defined. Together with the conventional objectives such as the goal attractive vector and the obstacle repulsive vector, the WVTV is included in a multi‐objective optimisation framework. Significant performance enhancements are demonstrated by simulations for complicated unknown environments.