Real-time path planning using harmonic potentials in dynamic environments
نویسندگان
چکیده
Motivated by fluid analogies, artificial harmonic potentials can eliminate local m in ima problems in robot path planning. I n this paper, simple analytical solut ions t o planar harmonic potentials are derived using tools f r o m fluid mechanics, and are applied t o two-dimensional planning among multiple moving obstacles. These closed-form solutions enable real-time computation to be readily achieved.
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