Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Toward efficient trajectory planning: the path-velocity decomposition
International Journal of Robotics Research
Robot planning and control via potential functions
The robotics review 1
Handbook of discrete and computational geometry
Handbook of discrete and computational geometry
Robot Motion Planning
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In this paper, a new approach planning of the mobile robot path through a space with obstacles is proposed. This approach consists in modeling the evolution space of the robot as a system of nonlinear resistances R = F(i): being the current that crosses the resistance R, and F is a nonlinear function of the current i. The obstacles are supposed to be permanent and are represented by infinite resistances value. On the other hand the two points where we want to determine the shortest path are supposed to be polarized by potential difference (&Dgr;V). The nonlinear of the resistances define the shortest path as the line of maximal current value through the different resistances in the space. However, the proposed approach can also be applied to mobile obstacles, provided that the calculation time of the shortest path is less than the motion of obstacles. Extensions to three dimensional (3D) space is possible by adding a supplementary dimension.