ISSN:
1573-0409
Keywords:
robot path planning
;
fluid model
;
numerical potential method
;
Poisson's equation
Source:
Springer Online Journal Archives 1860-2000
Topics:
Computer Science
,
Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
Notes:
Abstract This paper presents a numerical potential function for point-robot path planning in configuration space based on the theory of fluid mechanics. Ideal fluid is first simulated using Poisson's equation and heuristic path planning algorithms are established by comparisons of the velocity potentials. Several computational techniques are experimented and compared. A bitmap collision detection technique is proposed for non-point robots. This fluid model creates an environment which is not only free of local minima but also beneficial for navigation control.
Type of Medium:
Electronic Resource
URL:
http://dx.doi.org/10.1023/A:1007963408438
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