Abstract:
Motivated by fluid analogies, artificial harmonic potentials can eliminate local minima problems in robot path planning. In this paper, simple analytical solutions to pla...Show MoreMetadata
Abstract:
Motivated by fluid analogies, artificial harmonic potentials can eliminate local minima problems in robot path planning. In this paper, simple analytical solutions to planar harmonic potentials are derived using tools from fluid mechanics, and are applied to two-dimensional planning among multiple moving obstacles. These closed-form solutions enable real-time computation to be readily achieved.
Date of Conference: 25-25 April 1997
Date Added to IEEE Xplore: 06 August 2002
Print ISBN:0-7803-3612-7