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Sensor-based 2-D Potential Panel Method for Robot Motion Planning*

Published online by Cambridge University Press:  09 March 2009

Yanjun Zhang  and
Kimon P. Valavanis
Yanjun Zhang
Affiliation:
A-CIM Center & CACS, The University of Southwestern Louisiana, Lafayette, LA 70504 (USA)
Kimon P. Valavanis
Affiliation:
A-CIM Center & CACS, The University of Southwestern Louisiana, Lafayette, LA 70504 (USA)
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Summary

A potential panel method is proposed to solve simultaneously the path planning and collision avoidance problem for a mobile robot operating in an uncertain obstacle filled environment. The problem is solved in three steps: (1) transform the arbitrary shaped obstacles in the 2-D workspace into simple convex polygons; (2) generate a local minima-free potential field on the workspace; (3) generate a streamline from the starting position towards the goal position in the artificial potential field. The computational complexity of the pertinent algorithms justify the applicability of the approach in real-time. Simulation results are included.

Keywords

Sensor-based motion planningCollision avoidancePotential panel methodPotential field

Information

Type
Articles
Information
Robotica , Volume 14 , Issue 1 , January 1996 , pp. 81 - 89
Copyright
Copyright © Cambridge University Press 1996

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