Probabilistic harmonic-function-based method for robot motion planning

被引：0

作者：

Iñiguez, P ^{[1
]}

Rosell, J ^{[1
]}

机构：

[1] URV, Dept Eng Elect Elect & Automat, Tarragona 43007, Spain

来源：

IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 | 2003年

关键词：

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper presents a robot motion planning method, called PHM, that uses a random sampling scheme together with a potential-field approach based on harmonic functions. The combination of both results in an efficient path planner that is both resolution and probabilistic complete. On one hand, random sampling allows the use of the harmonic functions approach without the explicit knowledge of the robot's Configuration Space. On the other hand, harmonic functions allow an intelligent sampling of Configuration Space by introducing a bias towards the more promising regions.

引用

页码：382 / 387

页数：6

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