A Path-Planning Algorithm Using Vector Potential Functions in Triangular Regions

A path-planning algorithm for a complex workspace split into triangular regions is investigated. The algorithm, which is formulated to achieve a goal configuration subject to the desired goal-point orientation, generates a collision-free region-to-region-compliant path. To that end, a set of vector...

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Veröffentlicht in:	IEEE transactions on systems, man, and cybernetics. Systems Jg. 43; H. 4; S. 832 - 842
Hauptverfasser:	Pamosoaji, A. K., Keum-Shik Hong
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	New York, NY IEEE 01.07.2013 Institute of Electrical and Electronics Engineers The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	Algorithmics. Computability. Computer arithmetics Algorithms Applied sciences Collision avoidance Collision-free path complex environment Computer science; control theory; systems Construction Control theory. Systems Cybernetics Exact sciences and technology Force goal achievement path IEEE Potentials Mathematical analysis Obstacles Orientation Path planning region-to-region path Robotics Robots Theoretical computing vector potential functions Vector potentials Vectors Vehicles Wheel Obstacle Vector potential region-to-region path Constraint satisfaction Tracking task Potential function Path planning Orientation vector potential functions goal achievement path Collision-free path Optimal trajectory complex environment Collision avoidance Workspace
ISSN:	2168-2216, 2168-2232
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Abstract	A path-planning algorithm for a complex workspace split into triangular regions is investigated. The algorithm, which is formulated to achieve a goal configuration subject to the desired goal-point orientation, generates a collision-free region-to-region-compliant path. To that end, a set of vector potential functions is used. These functions are calculated using information on the triangular regions' vertices, the obstacles' positions, and the goal configuration. Path-planning procedures based on these constraint-satisfying functions are constructed. The proposed path-planning method, entailing velocity-and-orientation tracking control and configuration control, is applied to a unicycle vehicle, and its performance is compared with that of an existing path-planning scheme.
AbstractList	A path-planning algorithm for a complex workspace split into triangular regions is investigated. The algorithm, which is formulated to achieve a goal configuration subject to the desired goal-point orientation, generates a collision-free region-to-region-compliant path. To that end, a set of vector potential functions is used. These functions are calculated using information on the triangular regions' vertices, the obstacles' positions, and the goal configuration. Path-planning procedures based on these constraint-satisfying functions are constructed. The proposed path-planning method, entailing velocity-and-orientation tracking control and configuration control, is applied to a unicycle vehicle, and its performance is compared with that of an existing path-planning scheme.
Author	Pamosoaji, A. K. Keum-Shik Hong
Author_xml	– sequence: 1 givenname: A. K. surname: Pamosoaji fullname: Pamosoaji, A. K. organization: Sch. of Mech. Eng., Pusan Nat. Univ., Busan, South Korea – sequence: 2 surname: Keum-Shik Hong fullname: Keum-Shik Hong email: kshong@pusan.ac.kr organization: Dept. of Cogno-Mechatron. Eng., Pusan Nat. Univ., Busan, South Korea
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Keywords	Wheel Obstacle Vector potential region-to-region path Constraint satisfaction Tracking task Potential function Path planning Orientation vector potential functions goal achievement path Collision-free path Optimal trajectory complex environment Collision avoidance Workspace
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SubjectTerms	Algorithmics. Computability. Computer arithmetics Algorithms Applied sciences Collision avoidance Collision-free path complex environment Computer science; control theory; systems Construction Control theory. Systems Cybernetics Exact sciences and technology Force goal achievement path IEEE Potentials Mathematical analysis Obstacles Orientation Path planning region-to-region path Robotics Robots Theoretical computing vector potential functions Vector potentials Vectors Vehicles
Title	A Path-Planning Algorithm Using Vector Potential Functions in Triangular Regions
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