Title :
Potential-based modeling of three-dimensional workspace for obstacle avoidance
Author_Institution :
Dept. of Comput. & Inf. Sci., Nat. Chiao Tung Univ., Hsinchu, Taiwan
Abstract :
The potential-based modeling of a three-dimensional workspace for path planning purposes is described. It is assumed that the workspace boundary is uniformly distributed with generalized charge. The potential at a distance from a point charge is inversely proportional to the distance to the power of an integer. The approach completely eliminates the possibility of the collision between two objects. Potential functions due to polyhedral surfaces are derived analytically. The continuity and differentiability properties of a particular potential function are investigated. Application of such a model in skeletonization of 3-D regions is discussed
Keywords :
path planning; robots; 3-D regions; continuity; differentiability; obstacle avoidance; path planning; polyhedral surfaces; potential function; potential-based modeling; skeletonization; three-dimensional workspace; Cost function; Councils; Equations; Information science; Orbital robotics; Path planning; Robots; Topology; Torque;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.291927
