Two-Dimensional Robot Motion Planning by Detecting Local Minimum Points of Oval Potential Field.

Robot Motion Planning using Hyperboloid Potential Functions

A new approach to robot path planning using hyperboloid potential functions is presented in this paper. Unlike parabolic potential functions, where the control force increases with distance from the goal and is unbound, and conic potential functions where a singularity occurs at the goal, hyperboloid potential functions avoid both these drawbacks. However, they do combine the advantages of both...

Near-Minimum-Time Motion Planning of Manipulators along Specified Path

The large amount of computation necessary for obtaining time optimal solution for moving a manipulator on specified path has made it impossible to introduce an on line time optimal control algorithm. Most of this computational burden is due to calculation of switching points. In this paper a learning algorithm is proposed for finding the switching points. The method, which can be used for both ...

Mobile Robot Online Motion Planning Using Generalized Voronoi Graphs

In this paper, a new online robot motion planner is developed for systematically exploring unknown environ¬ments by intelligent mobile robots in real-time applications. The algorithm takes advantage of sensory data to find an obstacle-free start-to-goal path. It does so by online calculation of the Generalized Voronoi Graph (GVG) of the free space, and utilizing a combination of depth-first an...

Performance Evaluation of Potential Field based Distributed Motion Planning Methods for Robot Collectives

A Standardized Testing-Ground for Artificial Potential-Field based Motion Planning for Robot Collectives

In this paper, we examine and evaluate artificial-potential field approaches for motion planning of robot collectives with formation-maintenance requirements. To this end, we demonstrate the practical use of construction of the Navigation Function (NF) to serve as the “standardized testing-ground.” The NF allows a designer to merge multiple local limited-range potential-functions uniformly into...