A potential field approach to path planning
نویسندگان
چکیده
منابع مشابه
A potential field approach to path planning
We present a path-planning algorithm for the classical mover's problem in three dimensions using a potential field representation of obstacles. A potential function similar to the electrostatic potential is assigned to each obstacle, and the topological structure of the free space is derived in the form of minimum potential valleys. Path planing is done at two levels. First, a global planner se...
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ژورنال
عنوان ژورنال: IEEE Transactions on Robotics and Automation
سال: 1992
ISSN: 1042-296X
DOI: 10.1109/70.127236