Block-synchronous harmonic control for scalable trajectory planning
نویسندگان
چکیده
Trajectory planning consists in finding a way to get from a starting position to a goal position while avoiding obstacles within a given environment or navigation space. Harmonic functions may be used as potential fields for trajectory planning (Connolly et al., 1990). Such functions do not have local extrema (unlike other potential based methods as in (Khatib, 1986)), so that control algorithms may reduce to locally ascend the potential until they reach a global maximum, when obstacles correspond to minima of the potential and goals correspond to maxima.
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