Planning With Discrete Harmonic Potential Fields
نویسنده
چکیده
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 an agent (e.g. its dynamics and internal representation etc.), its external environment (i.e. the work space in which it is operating, its attributes and the entities populating it), and the operator's imposed task and constraints on behavior as one goal-oriented unit. Success in achieving this goal in a realistic setting seems closely tied to the four conditions stated by Brooks which are: intelligence, emergence, situatedness, and embodiment (Brooks, 1991). While designing planners for agents whose inside occupies a simply-connected region of space can be challenging, the level of difficulty considerably rises when the planner is to be designed for agents whose inside no longer occupies a simply-connected space (i.e. the agent is a distributed entity in space). This situation gives rise to sensitive issues in communication, decision making and environment representation and whether a centralize top-down mode for behavior generation should be adopted or a decentralized, bottom-up approach may better suit the situation at hand. To the best of this authors' knowledge, the potential field (PF) approach was the first to be used to generate a paradigm for motion guidance (Hull,1932); (Hull, 1938). The paradigm began from the simple idea of an attractor field situated on the target and a repeller field fencing the obstacles. Several decades later, the paradigm surfaced again through the little-known work of Loef and Soni which was carried out in the early 1970s Despite its promising start, the attractor-repeller paradigm for configuring a potential field for use in navigation faced several problems. The most serious one is its inability to guarantee convergence to a target point (the local minima problem). However, the problem
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عنوان ژورنال:
- CoRR
دوره abs/1608.05931 شماره
صفحات -
تاریخ انتشار 2008