標題: Potential-based modeling of 2-D regions using nonuniform source distributions
作者: Chuang, JH
Tsai, CH
Tsai, WH
Yang, CY
資訊工程學系
Department of Computer Science
關鍵字: collision avoidance;nonuniform source distributions;path planning;potential fields
公開日期: 1-三月-2000
摘要: One of existing approaches to path planning problems uses a potential function to represent the topological structure of the free space. Newtonian potential was used in [1] to represent object and obstacles in the two-dimensional (2-D) workspace wherein their boundaries are assumed to be uniformly charged. In this paper, more general, nonuniform distributions are considered. It is shown that for linear or quadratic source distributions, the repulsion between two polygonal objects ran be evaluated analytically. Simulation results show that by properly adjusting the charge distribution along obstacle/object boundaries, path planning results can be improved in terms of collision avoidance, path length, etc.
URI: http://dx.doi.org/10.1109/3468.833101
http://hdl.handle.net/11536/30712
ISSN: 1083-4427
DOI: 10.1109/3468.833101
期刊: IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART A-SYSTEMS AND HUMANS
Volume: 30
Issue: 2
起始頁: 197
結束頁: 202
顯示於類別:期刊論文


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