Title :
Path planning using Laplace´s equation
Author :
Connolly, C.I. ; Burns, J.B. ; Weiss, R.
Author_Institution :
Dept. of Comput. & Inf. Sci., Massachusetts Univ., Amherst, MA, USA
Abstract :
A method for planning smooth robot paths is presented. The method relies on the use of Laplace´s equation to constrain the generation of a potential function over regions of the configuration space of an effector. Once the function is computed, paths may be found very quickly. These functions do not exhibit the local minima which plague the potential field method. Unlike decompositional and algebraic techniques. Laplace´s equation is very well suited to computation on massively parallel architectures
Keywords :
planning (artificial intelligence); robots; Laplace´s equation; configuration space; end-effector; massively parallel architectures; path planning; potential function generation constraint; smooth robot paths; Concurrent computing; Contracts; Harmonic analysis; Information science; Laplace equations; Navigation; Orbital robotics; Parallel robots; Path planning; Regions;
Conference_Titel :
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location :
Cincinnati, OH
Print_ISBN :
0-8186-9061-5
DOI :
10.1109/ROBOT.1990.126315
