Vehicle motion planning using stream functions

被引：98
作者：
Waydo, S [1 ]
Murray, RM [1 ]
机构：
[1] CALTECH, Pasadena, CA 91125 USA
来源：
2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS | 2003年
关键词：
D O I：
10.1109/ROBOT.2003.1241966
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
Borrowing a concept from hydrodynamic analysis, this paper presents stream functions which satisfy Laplace's equation as a local-minima free method for producing potential-field based navigation functions in two dimensions. These functions generate smoother paths (i.e. more suited to aircraft-like vehicles) than previous methods. A method is developed for constructing analytic stream functions to produce arbitrary vehicle behaviors while avoiding obstacles, and an exact solution for the case of a single uniformly moving obstacle is presented. The effects of introducing multiple obstacles are discussed and current work in this direction is detailed. Experimental results generated on the Cornell RoboFlag testbed are presented and discussed.
引用
收藏
页码：2484 / 2491
页数：8
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