Cart (Loading....) | Create Account
Close category search window
 

Using moments to plan paths for the Oxford AGV

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Hague, T. ; Dept. of Eng. Sci., Oxford Univ., UK ; Brady, M. ; Cameron, S.

A simple algorithm based on the artificial potential field paradigm and capable of planning translational motions for a convex polygonal object among polygonal obstacles is outlined. A heuristic based on the concept of taking moments is introduced. It allows this algorithm to be extended to include a rotational degree of freedom. It is then shown that this method can be used form the basis of a local obstacle avoidance algorithm for a robot vehicle following a corridor. It is observed that the lines of minimum potential which the moving object is made to follow correspond to the Voronoi diagram of the environment. It is also observed that the form of the Voronoi diagram under the Euclidean (L2) metric is not necessarily ideal for path planning and that the minimum distance function upon which the potential field approach relies may be calculated more swiftly under the L1 and L metrics. For these reasons the form of the Voronoi diagram under those metrics is investigated

Published in:

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Date of Conference:

13-18 May 1990

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.