Near-time optimal path planning using potential functions

A potential based method for generating near time optimal paths of manipulators moving in the presence of obstacles is presented. The potential function consists of the navigation function for obstacle avoidance and acceleration potentials that force the path to maximize the acceleration and deceleration near the end points. The parameters of the potential functions are selected to guarantee a unique minimum that coincides with the destination point. The path of minimum potential from the initial point avoids obstacles as well as maximizes the initial acceleration and the final deceleration. The method is demonstrated for a two link planar manipulator, generating paths with optimal motion times substantially lower than those generated by the navigation function alone