Potential-based modeling of 2D regions using non-uniform source distributions

Jen-Hui Chuang, Chi Hao Tsai, Wei Hsin Tsai, Chuei Yaw Yang

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

Abstract

One of existing approaches to path planning problems uses a potential function to represent the topological structure of the free space. 1 Newtonian potential was used in [1] to represent object and obstacles in the 2D workspace wherein their boundaries are assumed to be uniformly charged. In this paper, the source distributions are extended to more general cases. It is shown that if the source distribution of a line segment can be uniform, linear or quadratic, the repulsion between two line segments can be evaluated analytically. Simulation results show that by properly adjusting the charge distribution along obstacle/object boundaries, path planning results can indeed be improved in terms of collision avoidance.

Original languageEnglish
Title of host publicationComputer Vision - ACCV 1998 - 3rd Asian Conference on Computer Vision, Proceedings
EditorsRoland Chin, Ting-Chuen Pong
PublisherSpringer Verlag
Pages535-542
Number of pages8
ISBN (Print)3540639314, 9783540639312
DOIs
StatePublished - 8 Jan 1997
Event3rd Asian Conference on Computer Vision, ACCV 1998 - Hong Kong, Hong Kong
Duration: 8 Jan 199810 Jan 1998

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume1352
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference3rd Asian Conference on Computer Vision, ACCV 1998
CountryHong Kong
CityHong Kong
Period8/01/9810/01/98

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