• DocumentCode
    2111623
  • 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
  • Volume
    1
  • fYear
    1997
  • fDate
    20-25 Apr 1997
  • Firstpage
    874
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
  • Conference_Location
    Albuquerque, NM
  • Print_ISBN
    0-7803-3612-7
  • Type

    conf

  • DOI
    10.1109/ROBOT.1997.620144
  • Filename
    620144
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2111623