Potential-based modeling of 2-D regions using nonuniform source distributions

Author

Chuang, Jen-Hui ; Tsai, Chi-Hao ; Tsai, Wei-Hsin ; Yang, Chuei-Yaw

Author_Institution

Dept. of Comput. & Inf. Sci., Nat. Chiao Tung Univ., Hsinchu, Taiwan

Volume

30

Issue

2

fYear

2000

fDate

3/1/2000 12:00:00 AM

Firstpage

197

Lastpage

202

Abstract

One of the existing approaches to path planning problems uses a potential function to represent the topological structure of the free space. Newtonian potential was used in Chuang and Ahuja (1998) 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 can be evaluated analytically. Simulation results show that by properly adjusting the charge distribution along obstacle/object boundaries, path planning results ran be improved in terms of collision avoidance, path length, etc

Keywords

collision avoidance; geometry; integral equations; topology; 2D regions; Newtonian potential; charge distribution; collision avoidance; linear distributions; nonuniform distributions; nonuniform source distributions; path length; polygonal objects; potential-based modeling; quadratic source distributions; Collision avoidance; Councils; Data mining; Equations; Information geometry; Information science; Path planning; Shape; Sliding mode control; Two dimensional displays;

fLanguage

English

Journal_Title

Systems, Man and Cybernetics, Part A: Systems and Humans, IEEE Transactions on

Publisher

ieee

ISSN

1083-4427

Type

jour

DOI

10.1109/3468.833101

Filename

833101