Robot Path Planning Using Fluid Model

Authors:
Z. X. Li;T. D. Bui
Affiliations:
Department of Computer Science, Concordia University, 1455 de Maisonneuve West, Montréal, H3G 1M8, Canada.;Department of Computer Science, Concordia University, 1455 de Maisonneuve West, Montréal, H3G 1M8, Canada.
Venue:
Journal of Intelligent and Robotic Systems
Year:
1998

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Abstract

This paper presents a numerical potential function for point-robot pathplanning in configuration space based on the theory of fluid mechanics.Ideal fluid is first simulated using Poisson’s equation and heuristicpath planning algorithms are established by comparisons of the velocitypotentials. 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 localminima but also beneficial for navigation control.