Online motion planning using Laplace potential fields

Author

Alvarez, Diego ; Alvarez, Juan C. ; Gonzalez, R.C.

Author_Institution

Electr. & Comput. Eng. Dept., Oviedo Univ., Asturias, Spain

Volume

3

fYear

2003

fDate

14-19 Sept. 2003

Firstpage

3347

Abstract

Robot Navigation is an especially challenging problem when only online sensor information is available. The main problem is to guarantee global properties, such as algorithm convergence or trajectory optimality, based on local information. In this paper we present a new non-heuristic sensor-based planning algorithm, characterized by: 1) it is based in potential functions, allowing to introduce optimality criteria, 2) it is computed incrementally to introduce last sensor readings, and 3) it accounts for robot dynamics. The result is a method suitable for real-time navigation, it is intuitive and easy to understand, and produces smooth and safe trajectories.

Keywords

Laplace equations; mobile robots; path planning; position control; real-time systems; robot dynamics; Laplace potential fields; algorithm convergence; mobile robots; nonheuristic algorithm; online motion planning; online sensor information; potential functions; real-time navigation; robot dynamics; robot navigation; sensor based planning algorithm; trajectory optimality; Convergence; Heuristic algorithms; Laplace equations; Motion planning; Navigation; Path planning; Robot motion; Robot sensing systems; Sensor phenomena and characterization; Sensor systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-7736-2

Type

conf

DOI

10.1109/ROBOT.2003.1242107

Filename

1242107