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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Bibliographic Details
Published in:	IEEE transactions on systems, man, and cybernetics. Systems Vol. 43; no. 4; pp. 832 - 842
Main Authors:	Pamosoaji, A. K., Keum-Shik Hong
Format:	Journal Article
Language:	English
Published:	New York, NY IEEE 01.07.2013 Institute of Electrical and Electronics Engineers The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	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
Online Access:	Get full text
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