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A 3-D Potential panel method for robot motion planning

Published online by Cambridge University Press:  01 July 1997

Yanjun Zhang  and
Kimon P. Valavanis
Yanjun Zhang
Affiliation:
Robotics & Automation Laboratory, A-CIM Center & CACS, The University of Southwestern Louisiana, Lafayette, LA 70504, USA
Kimon P. Valavanis
Affiliation:
Robotics & Automation Laboratory, A-CIM Center & CACS, The University of Southwestern Louisiana, Lafayette, LA 70504, USA
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Abstract

A potential panel method is proposed to solve the collision-free pathplanning problem for a free-flying robot operating in an obstacle filled 3-Denvironment. The problem is solved in three steps: (1) transform the arbitraryshaped obstacles in the 3-D workspace into simple convex polyhedrons; (2)generate an artificial potential field using the 3-D panel method in the 3-Dworkspace; (3) generate a streamline from the starting position towards the goalposition in the artificial potential field. The computational complexity of thepertinent algorithms justify the efficiency of the approach and itsapplicability in real-time. Simulation results illustrate the potential of theproposed approach. The reported research is the outgrowth of the 2-D method,already published.

Keywords

Sensor-based motion planningCollision avoidancePotential panel methodPotentialfield

Information

Type
Research Article
Information
Robotica , Volume 15 , Issue 4 , July 1997 , pp. 421 - 434
Copyright
© 1997 Cambridge University Press

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Footnotes

This work has been partially funded by an NSFgrant, BES 95-06771. I wish to thank Timothy Hebert, the Graduate assistant whohelped to run the simulations.