DocumentCode :
2670116
Title :
Potential-based modeling of two dimensional workspace using several source distributions
Author :
Chuang, Jen-Hui
Author_Institution :
Dept. of Comput. & Inf. Sci., Nat. Chiao Tung Univ., Hsinchu, Taiwan
fYear :
1994
fDate :
2-5 Oct 1994
Firstpage :
98
Lastpage :
104
Abstract :
One of the existing approaches to path planning problems uses a potential field function to represent the topological structure of the free space. The main advantages of this approach include the simplicity of the representation of free space and the guidance for obstacle avoidance available trough the variation in the potential field. Newtonian potential function can be used to represent polygonal objects and obstacles wherein their boundaries are assumed to be uniformly charged. In this paper, the idea is extended to more general cases where the source distributions can also be linear or quadratic. It is shown that the potential function for these distributions can also be derived in closed form. Possible applications of these analytic results include the modeling of free space of complex shape, and the representation for objects and obstacles having properties of interest which are not homogeneous along their boundaries
Keywords :
path planning; topology; 2D workspace modeling; Newtonian potential function; obstacle avoidance; obstacle representation; path planning problems; polygonal object representation; potential field function; potential-based modeling; source distributions; topological structure; uniformly charged boundaries; Collision avoidance; Distributed computing; Equations; Path planning; Shape; Space charge;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Multisensor Fusion and Integration for Intelligent Systems, 1994. IEEE International Conference on MFI '94.
Conference_Location :
Las Vegas, NV
Print_ISBN :
0-7803-2072-7
Type :
conf
DOI :
10.1109/MFI.1994.398468
Filename :
398468
Link To Document :
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