標題: An analytically tractable potential field model of free space and its application in obstacle avoidance
作者: Chuang, JH
Ahuja, N
資訊工程學系
Department of Computer Science
關鍵字: artificial potential field;free-space representation;obstacle avoidance;path planning
公開日期: 1-Oct-1998
摘要: An analytically tractable potential field model of free space is presented in this paper. The model assumes that the border of every two-dimensional (2-D) region is uniformly charged. It is shown that the potential and the resulting repulsion (force and torque) between polygonal regions can be calculated in closed form. By using the Newtonian potential function, collision avoidance between object and obstacle thus modeled is guaranteed in a path planning problem. A local planner is developed for finding object paths going through narrow areas of free space where the obstacle avoidance is most important. Simulation results show that not only does individual object configuration of a path obtained with the proposed approach avoid obstacles effectively, the configurations also connect smoothly into a path.
URI: http://dx.doi.org/10.1109/3477.718522
http://hdl.handle.net/11536/150270
ISSN: 1083-4419
DOI: 10.1109/3477.718522
期刊: IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS
Volume: 28
起始頁: 729
結束頁: 736
Appears in Collections:Articles