Potential-based modeling of three dimensional workspace for obstacle avoidance

Jen-Hui Chuang*

*Corresponding author for this work

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

3 Scopus citations

Abstract

This paper is concerned with a potential-based modeling of three-dimensional workspace for path planning purpose. It is assumed that the workspace boundary is uniformly distributed with generalized charge. The potential at a distance from a point charge is inversely proportional to the distance to the power of an integer. The approach completely eliminates the possibility of the collision between two objects. Potential functions due to polyhedral surfaces are derived analytically. The continuity and differentiability properties of a particular potential function are investigated. Application of such a model in skeletonization of 3D regions is discussed.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Pages19-24
Number of pages6
ISBN (Print)0818634529
DOIs
StatePublished - 1 Jan 1993
EventProceedings of the IEEE International Conference on Robotics and Automation - Atlanta, GA, USA
Duration: 2 May 19936 May 1993

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume3
ISSN (Print)1050-4729

Conference

ConferenceProceedings of the IEEE International Conference on Robotics and Automation
CityAtlanta, GA, USA
Period2/05/936/05/93

Fingerprint Dive into the research topics of 'Potential-based modeling of three dimensional workspace for obstacle avoidance'. Together they form a unique fingerprint.

Cite this