Path planning using the Newtonian potential

Jen-Hui Chuang*, Narendra Ahuja

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

18 Scopus citations

Abstract

Newtonian potential function is used to represent polygonal objects and obstacles. The closed-form expression of this potential field and other gradient-related quantities are derived. Such results not only eliminate the problems associated with the discretization of the object and obstacles in evaluating the risk of collision, but also make the search for the optimal object configurations efficient. The object skeleton, a shape description of the moving object, is introduced to guide the moving object through narrow regions while the search is done at different stages. The free space can then be divided by the narrow regions where the path planning takes place--a very simple free space decomposition scheme. Successful global strategies are developed to connect the local plans into a safe and smooth global path.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Pages558-563
Number of pages6
ISBN (Print)081862163X
DOIs
StatePublished - 1 Jan 1991
EventProceedings of the 1991 IEEE International Conference on Robotics and Automation - Sacramento, CA, USA
Duration: 9 Apr 199111 Apr 1991

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume1

Conference

ConferenceProceedings of the 1991 IEEE International Conference on Robotics and Automation
CitySacramento, CA, USA
Period9/04/9111/04/91

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