Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
An algorithm for planning collision-free paths among polyhedral obstacles
Communications of the ACM
A Reactive Robot Navigation System Based on a Fluid Dynamics Metaphor
PPSN I Proceedings of the 1st Workshop on Parallel Problem Solving from Nature
Experimental Reaction–Diffusion Chemical Processors for Robot Path Planning
Journal of Intelligent and Robotic Systems
Optimal Trajectory Planning for Wheeled Mobile Robots Based on Kinematics Singularity
Journal of Intelligent and Robotic Systems
Cooperative behavior of nano-robots as an analogous of the quantum harmonic oscillator
Annals of Mathematics and Artificial Intelligence
Mobile robot path planning algorithm by equivalent conduction heat flow topology optimization
Structural and Multidisciplinary Optimization
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A new approach is proposed to robot path planning that consists of using the viscous fluid equations including external forces. Unlike the majority of potential field techniques, the method is able to cope not only with 2-dimensional binary environments made of obstacles and free space, but also with so-called weighted regions, as well as uneven natural terrain where slope and ground characteristics influence the robot performance. It shows how the viscosity coefficient can be used to control the corridors of navigation, and how the external forces acting on the fluid particles can model the forces due to gravity and to friction between the ground and the vehicle. The planner automatically constructs several routes of equivalent costs, that makes the solutions more robust than those obtained by the search of optimal paths, by allowing reactivity in case of an unexpected local disturbance. Comparisons with the scent diffusion method for a binary universe and with a genetic algorithm for a real natural terrain are presented.