Title :
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
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;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1242107
