Real-time obstacle avoidance using harmonic potential functions
نویسندگان
چکیده
منابع مشابه
Real-time obstacle avoidance using harmonic potential functions
This paper presents a new formulation of the artificial potential approach to the obstacle avoidance problem for a mobile robot or a manipulator in a known environment. Previous formulations of artificial potentials, for obstacle avoidance, have exhibited local minima in a cluttered environment. To build an artificial potential field, we use harmonic functions which completely eliminate local m...
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ژورنال
عنوان ژورنال: IEEE Transactions on Robotics and Automation
سال: 1992
ISSN: 1042-296X
DOI: 10.1109/70.143352