A new technique to handle local minimum for imperfect potential field based motion planning

Random walk like techniques have been used to help potential field based motion planning techniques to escape from local minimum configurations. However, the associated cost can be large for some applications which require smoothing to take out the incoherent motion steps that are discovered through the random walks. In this paper the authors present a new technique to reduce or eliminate the need for random walks while improving performance. The authors discuss characteristics in application which can be a potential candidate to benefit from this new technique