Path Planning Generation in Mobile Robots Using Evolutionary Harmonic Potential Fields
نویسندگان
چکیده
Path planning by geometric methods bond to a complete knowledge of the environment in order to obtain a feasible solution are not the best option when solving the problem of moving in variable structure environments. Here a method based on the generation of local segments that are concatenated to form the total path from a starting point to a goal point free of collisions is given . The individual segments are the solutions of local, with respect to the robot, harmonic potential field problems. The information needed to properly outline the local harmonic potential field problems is obtained by using a system of range sensors that recognize the environment that surrounds the robot. Copyright © 2008 IFAC
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تاریخ انتشار 2008