A new potential field method for robot path planning

Author

Wang, Yunfeng ; Chirikjian, Gregory S.

Author_Institution

Dept. of Mech. Eng., Johns Hopkins Univ., Baltimore, MD, USA

Volume

2

fYear

2000

fDate

2000

Firstpage

977

Abstract

Presents an artificial potential field method for path planning of non-spherical single-body robots. The model simulates steady-state heat transfer with variable thermal conductivity. The optimal path problem is then the same as a heat flow with minimal thermal resistance. The novelty of this technique is that the thermal resistance in the configuration space for all different orientations of the robot can be superimposed. This reduces a search on Rⁿ×SO(n) to one on Rⁿ followed by a search on SO(n). Examples are presented to demonstrate the approach

Keywords

heat transfer; mobile robots; optimisation; path planning; thermal conductivity; thermal resistance; artificial potential field method; minimal thermal resistance; nonspherical single-body robots; optimal path problem; steady-state heat transfer; variable thermal conductivity; Heat transfer; High K dielectric materials; High-K gate dielectrics; Laplace equations; Orbital robotics; Path planning; Robots; Shape; Thermal conductivity; Thermal resistance;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on

Conference_Location

San Francisco, CA

ISSN

1050-4729

Print_ISBN

0-7803-5886-4

Type

conf

DOI

10.1109/ROBOT.2000.844727

Filename

844727