Deadlock-free motion planning using the Laplace potential field
- 1 January 1992
- journal article
- Published by Taylor & Francis in Advanced Robotics
- Vol. 7 (5) , 449-461
- https://doi.org/10.1163/156855393x00285
Abstract
In this paper we introduce a motion planning method which uses an artificial potential field obtained by solving Laplace's differential equation. A potential field based on Laplace's equation has no minimal point; therefore, path planning is performed without falling into local minima. Furthermore, we propose an application of the motion planning method for recursive motion planning in an uncertain environment. We illustrate the robot motion generated by the proposed method with simulation examples.Keywords
This publication has 4 references indexed in Scilit:
- Real-Time Obstacle Avoidance for Manipulators and Mobile RobotsThe International Journal of Robotics Research, 1986
- Continuous Robot Motion Planning In Unknown EnvironmentPublished by Springer Nature ,1986
- A “retraction” method for planning the motion of a discJournal of Algorithms, 1985
- An algorithm for planning collision-free paths among polyhedral obstaclesCommunications of the ACM, 1979