Path planning using flat potential field approach

The work illustrated in this paper concerns a new technique for resolving the problem of path planning in a static environment; this technique is called flat potential field. This new approach combines the simplicity of application of exact cell decomposition with the efficiency of local algorithms such as the potential field. The paper describes, in detail the phases that make up the algorithm, and demonstrates its capabilities with simulation examples. Finally, conclusions and hypotheses on the future applications of the algorithm are presented