Analytical potential fields and control strategies for motion planning

Seung Woo Kim, Daniel L Boley

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We present a novel method for robot motion planning that constructs a network of collision free paths using a randomized search over a potential field in Configuration Space. Our method finds local minima and then connects them to form a graph, which we call a roadmap. We use a gradient search scheme to find the local minima very efficiently and accurately. To find a path between two configurations, it is then a simple matter to connect given start and goal configurations 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.

Original languageEnglish (US)
Title of host publicationTasks and Methods in Applied Artificial Intelligence - 11 th International Conference on Industrial and Engineering Applications of Artificial Intelligence and Expert Systems, IEA-1998-AIE, Proceedings
EditorsMoonis Ali, Angel Pasqual del Pobil, Jose Mira
PublisherSpringer Verlag
Pages85-94
Number of pages10
ISBN (Print)3540645748, 9783540645740
DOIs
StatePublished - 1998
Event11th International Conference on Industrial and Engineering Applications of Artificial Intelligence and Expert Systems, IEA-1998-AIE - Benicassim, Spain
Duration: Jun 1 1998Jun 4 1998

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume1416
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other11th International Conference on Industrial and Engineering Applications of Artificial Intelligence and Expert Systems, IEA-1998-AIE
CountrySpain
CityBenicassim
Period6/1/986/4/98

Bibliographical note

Publisher Copyright:
© Springer-Verlag Berlin Heidelberg 1998.

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