Motion planning approach that produces critical point-free configuration space

A two-dimensional, motion planning approach that derives inspiration from the formation of shadows by opaque objects in the presence of a Gaussian light source is presented. It utilises the `potential field`-like varying intensity of a Gaussian light source coupled with the rectilinear property of light. The method borrows advantages of artificial potential field (APF) methods, such as single path generation and scope of feedback control. At the same time, with the selection of adequate parameters, this method is immune to the formation of critical points in the configuration space ` a drawback associated with most APF-based methods. Simulations are carried out and results are presented to demonstrate the applicability of the approach.