Title :
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
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;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.844727
