Path planning using a potential field representation
Hwang, Y.K.; Ahuja, N.
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Volume , Issue , 24-29 Apr 1988 Page(s):648 - 649 vol.1
Digital Object Identifier   10.1109/ROBOT.1988.12131
Summary:An approach to two-dimensional as well as three-dimensional findpath problems that divides each problem into two steps is presented. Rough paths are found based only on topological information. This is accomplished by assigning to each obstacle an artificial potential similar to electrostatic potential to prevent the moving object from colliding with the obstacles, and then locating minimum-potential valleys. The paths defined by the minimum-potential valleys are modified to obtain an optimal collision-free path and orientations of the moving object along the path. Three algorithms are given to accomplish this second step. These three algorithms based on potential fields are nearly complete in scope, and solve a large variety of problems

» View citation and abstract

Log in by entering your IEEE Web Account Username and Password.

IEEE Communications Society members: If you subscribe to the IEEE Electronic Periodicals Package or IEEE Electronic Periodicals Package Plus, you must access your subscription at www.comsoc.org.

Check with your librarian, information professional, or system manager to determine if you need to log in. Please complete the online Technical Support Form if you need assistance.

Select the Purchase History link to access the document. You will have 5 Days after purchase to access the Full Text PDF. Please complete the online Technical Support Form if you need assistance.

• Search and access Abstract records free of charge
• Register for table of contents alerts
• Purchase Full Text PDF documents

» Learn more about subscription options or how to become an IEEE Member.