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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Hague, T. Brady, M. Cameron, S. |
| Copyright Year | 1990 |
| Description | Author affiliation: Dept. of Eng. Sci., Oxford Univ., UK (Hague, T.; Brady, M.; Cameron, S.) |
| Abstract | A simple algorithm based on the artificial potential field paradigm and capable of planning translational motions for a convex polygonal object among polygonal obstacles is outlined. A heuristic based on the concept of taking moments is introduced. It allows this algorithm to be extended to include a rotational degree of freedom. It is then shown that this method can be used form the basis of a local obstacle avoidance algorithm for a robot vehicle following a corridor. It is observed that the lines of minimum potential which the moving object is made to follow correspond to the Voronoi diagram of the environment. It is also observed that the form of the Voronoi diagram under the Euclidean (L/sub 2/) metric is not necessarily ideal for path planning and that the minimum distance function upon which the potential field approach relies may be calculated more swiftly under the L/sub 1/ and L/sub infinity / metrics. For these reasons the form of the Voronoi diagram under those metrics is investigated. |
| Starting Page | 210 |
| Ending Page | 215 |
| File Size | 573948 |
| Page Count | 6 |
| File Format | |
| ISBN | 0818690615 |
| DOI | 10.1109/ROBOT.1990.125974 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1990-05-13 |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Path planning Vehicles Robots Terminology Orbital robotics Motion planning Computational complexity Piecewise linear approximation |
| Content Type | Text |
| Resource Type | Article |
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