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Robot Path Planning Using Fluid Model

Authors
  • Li, Z. X.1
  • Bui, T. D.1
  • 1 Concordia University, Department of Computer Science, 1455 de Maisonneuve West, Montréal, H3G 1M8, Canada , Montréal
Type
Published Article
Journal
Journal of Intelligent & Robotic Systems
Publisher
Springer-Verlag
Publication Date
Jan 01, 1998
Volume
21
Issue
1
Pages
29–50
Identifiers
DOI: 10.1023/A:1007963408438
Source
Springer Nature
Keywords
License
Yellow

Abstract

This paper presents a numerical potential function for point-robot path planning in configuration space based on the theory of fluid mechanics. Ideal fluid is first simulated using Poisson's equation and heuristic path planning algorithms are established by comparisons of the velocity potentials. Several computational techniques are experimented and compared. A bitmap collision detection technique is proposed for non-point robots. This fluid model creates an environment which is not only free of local minima but also beneficial for navigation control.

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