Motion Planning with Gamma-Harmonic Potential Fields

Planning With Discrete Harmonic Potential Fields

Utility and meaning in the behavior of an agent are highly contingent on the agent's ability to semantically embed its actions in the context of its environment. Such an ability is cloned into an agent using a class of intelligent motion controllers that are called motion planners. Designing a motion planner is not an easy task. A planner is the hub that integrates the internal environment of a...

Analytical Potential Fields and Control Strategies for Motion Planning

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 ...

Motion Planning in the Presence of Directional and Obstacle Avoidance Constraints Using Nonlinear, Anisotropic, Harmonic Potential Fields

Motion Planning in the Presence of Directional and Regional Avoidance Constraints Using Nonlinear, Anisotropic, Harmonic Potential Fields

Motion planning, or goal-oriented, context-sensitive, intelligent control is essential if an agent is to act in a useful manner. This paper suggests a new class of motion planners that can mark a constrained trajectory to a target zone in an environment that need not necessarily be a priori known. The novelty of the suggested planner lies in its ability to enforce region avoidance and direction...

Motion planning in the presence of directional and regional avoidance constraints using nonlinear, anisotropic, harmonic potential fields: a physical metaphor

Motion planning, or goal-oriented, context-sensitive, intelligent control is essential if an agent is to act in a useful manner. This paper suggests a new class of motion planners that can mark a constrained trajectory to a target zone in an environment that need not necessarily be a priori known. The novelty of the suggested planner lies in its ability to enforce region avoidance and direction...