One of the existing approaches to path planning problems uses a potential field function to represent the topological structure of the free space. The main advantages of this approach include the simplicity of the representation of free space and the guidance for obstacle avoidance available through the variation in the potential field. Newtonian potential function was used in to represent polygonal objects and obstacles wherein their boundaries are assumed to be uniformly charged. In this paper, the idea is extended to more general cases where the source distributions can also be linear or quadratic. It Is shown that the potential function for these distributions can also be derived in closed form. Possible applications of these analytic results include the modeling of free space of complex shape, and the representation for objects and obstacles having properties of interest which are not homogeneous along their boundaries.
|Number of pages||7|
|State||Published - 1 Dec 1994|
|Event||Proceedings of the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems - Las Vegas, NV, USA|
Duration: 2 Oct 1994 → 5 Oct 1994
|Conference||Proceedings of the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems|
|City||Las Vegas, NV, USA|
|Period||2/10/94 → 5/10/94|