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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Vydáno v:IEEE transactions on systems, man, and cybernetics. Systems Ročník 43; číslo 4; s. 832 - 842
Hlavní autoři: Pamosoaji, A. K., Keum-Shik Hong
Médium: Journal Article
Jazyk:angličtina
Vydáno: New York, NY IEEE 01.07.2013
Institute of Electrical and Electronics Engineers
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:
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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Shrnutí: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.
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ISSN:2168-2216
2168-2232
DOI:10.1109/TSMCA.2012.2221457