Real-time obstacle avoidance using harmonic potential functions

Real-time Obstacle Avoidance in Sonar-based Mobile Robot Navigation Using Harmonic Potential Functions

This paper presents a new algorithm for real time obstacle avoidance for mobile robots with a navigation task. The method, based on harmonic potential function and real time world modeling, allows to detect and to avoid unexpected obstacles, without any need to stop the robot. The algorithm, overcoming limitations of local minima, permits to face unknown cluttered environment composed by arbitr...

Obstacle Avoidance for Spatial Hyper-Redundant Manipulators Using Harmonic Potential Functions and the Mode Shape Technique

This paper deals with the obstacle avoidance problem for spatial hyper-redundant manipulators in known environments. The manipulator is divided into two sections, a proximal section that has not entered the space among the obstacles and a distal section among the obstacles. Harmonic potential functions are employed to achieve obstacle avoidance for the distal section in three-dimensional space ...

Real-time obstacle avoidance for multiple mobile robots

An efficient, simple, and practical real time path planning method for multiple mobile robots in dynamic environments is introduced. Harmonic potential functions are utilized along with the panel method known in fluid mechanics. First, a complement to the traditional panel method is introduced to generate a more effective harmonic potential field for obstacle avoidance in dynamically changing e...

Motion Planning in the Presence of Directional and Obstacle Avoidance Constraints Using Nonlinear, Anisotropic, Harmonic Potential Fields

Visual Avoidance of Moving Obstacles Based on Vector Field Disturbances

In this paper, we propose a new method for real time obstacle avoidance using visual information. It is based on our on-going research on vector fields and potential functions associated to successful motion planning algorithms. Specifically, this paper addresses the avoidance of dynamic obstacles, which have the property of producing instabilities in the navigation vector field associated to a...