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 |