Robot Path Planning Using Fluid Model

This paper presents a numerical potential function for point-robot path planning in configuration space based on the theory of fluid mechanics. Ideal fluid is first simulated using Poisson's equation and heuristic path planning algorithms are established by comparisons of the velocity potentials. Several computational techniques are experimented and compared. A bitmap collision detection technique is proposed for non-point robots. This fluid model creates an environment which is not only free of local minima but also beneficial for navigation control.