Analytical Potential Fields and Control Strategies for Motion Planning
نویسندگان
چکیده
We present a novel method for robot motion planning that constructs a network of collision free paths using a randomized search over a potential eld in Connguration Space. Our method nds local minima and then connects them to form a graph, which we call a roadmap. We use a gradient search scheme to nd the local minima very eeciently and accurately. To nd a path between two conngurations, it is then a simple matter to connect given start and goal conngurations to the roadmap and to use a standard graph search algorithm to search the roadmap. The construction of the roadmap can be done in parallel with very little communication.
منابع مشابه
Semi-Automated Control of AFM-based Micromanipulation using Potential Fields
This paper proposes a truly interactive virtual environment (VE) system for 2D assembly tasks at the microscale. It is based on the application of virtual potential fields as a control aid for performing safe and reliable path planning strategies. The planner covers a whole range of problems due to microscale effects in object assignment, obstacle detection and avoidance, path trajectory findin...
متن کاملA Correlation among Potential Fields, Dempster-Shafer, Fuzzy Logic and Neural Networks Based Intelligent Control Systems
The main object of the research work is to compare and correlate the Intelligent control which has a class of control technique used in several artificial intelligence computing approaches namely Motion or Path Planning (using potential fields),Evidence Theory (dempster – shafer),Fuzzy Systems, Neural Networks etc. A detailed study to arrive a research based solutions to find relations among th...
متن کاملCamOn: A Real-Time Autonomous Camera Control System
This demonstration presents CamOn, an autonomous camera control system for real-time 3D games. CamOn employs multiple Artificial Potential Fields (APFs), a robot motion planning technique, to control both the location and orientation of the camera. Scene geometry from the 3D environment contributes to the potential field that is used to determine position and movement of the camera. Composition...
متن کاملEvaluation of urban branding strategies in Iranian cities
Urban branding, as a new approach toward urban development, improves marketing of the city image in different ways by changing the visual image of the city into a brand image. This paper aims to survey the element of urban branding strategies in Iranian cities by examining the criteria of urban branding theory in Iranian cities. The main goal of this investigation is to describe how the cities ...
متن کاملVisual 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...
متن کامل