Sculpting Potential Fields in the BVP Path Planner

摘要：

BVP Path Planners generate potential fields whose gradient descent represents navigational routes from any point of the environment to a goal position. The resulting trajectories are smooth and free of local minima. In this paper, we refine our BVP PP approach by introducing a novel form for the core equation that permits to easily cope with terrain inhomogeneities. This is accomplished by changing locally the concavity/convexity of the potential, and then creating regions with higher or lower traveling preferences. We present analytical results and simulated experiments to demonstrate our proposal.

作者: Edson Prestes Marco Idiart

作者单位: Instituto de Informática Universidade Federal do Rio Grande do Sul Porto Alegre - RS - Brazil Instituto de Fjsica Universidade Federal do Rio Grande do Sul Porto Alegre - RS - Brazil

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 183-188

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）