Title :
Real-time path planning using harmonic potentials in dynamic environments
Author :
Feder, Hans Jacob S ; Slotine, Jean-Jacques E.
Author_Institution :
Nonlinear Syst. Lab., MIT, Cambridge, MA, USA
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
Keywords :
fluid dynamics; mobile robots; path planning; real-time systems; robot dynamics; 2D path planning; dynamic environments; fluid mechanics; harmonic potentials; mobile robots; planar harmonic potentials; real-time systems; Aerodynamics; Closed-form solution; Fluid dynamics; Fluid flow; Jacobian matrices; Laplace equations; Nonlinear systems; Orbital robotics; Path planning; Robots;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.620144
