PATH PLANNING USING A POTENTIAL FIELD REPRESENTATION.

Yong Koo Hwang, Narendra Ahuja

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

An approach to two-dimensional as well as three-dimensional findpath problems that divides each problem into two steps is presented. Rough paths are found based only on topological information. This is accomplished by assigning to each obstacle an artificial potential similar to electrostatic potential to prevent the moving object from colliding with the obstacles, and then locating minimum-potential valleys. The paths defined by the minimum-potential valleys are modified to obtain an optimal collision-free path and orientations of the moving object along the path. Three algorithms are given to accomplish this second step. These three algorithms based on potential fields are nearly complete in scope, and solve a large variety of problems.

Original languageEnglish (US)
Title of host publicationUnknown Host Publication Title
PublisherIEEE
Pages648-649
Number of pages2
ISBN (Print)0818608528
StatePublished - Jan 1 1988

ASJC Scopus subject areas

  • Engineering(all)

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  • Cite this

    Hwang, Y. K., & Ahuja, N. (1988). PATH PLANNING USING A POTENTIAL FIELD REPRESENTATION. In Unknown Host Publication Title (pp. 648-649). IEEE.