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Proceedings Paper

Harmonic Functions for Robot Path Construction
Author(s): C. I. Connolly; J. B. Burns; R. Weiss
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Paper Abstract

A frequent problem in the use of potential functions for robot path planning is that local minima often occur. These local minima may be eliminated by judicious selection of potential functions for goals and obstacles. Specifically, harmonic functions may be used without introducing such minima. While there are analytic, easily superposed solutions for impenetrable point obstacles, this is not the case for impenetrable obstacles with finite, nonzero extent (e.g., walls). Instead, numerical methods that are well suited to massively parallel computation can be used.

Paper Details

Date Published: 1 February 1990
PDF: 10 pages
Proc. SPIE 1196, Intelligent Control and Adaptive Systems, (1 February 1990); doi: 10.1117/12.969910
Show Author Affiliations
C. I. Connolly, University of Massachusetts at Amherst (United States)
J. B. Burns, University of Massachusetts at Amherst (United States)
R. Weiss, University of Massachusetts at Amherst (United States)

Published in SPIE Proceedings Vol. 1196:
Intelligent Control and Adaptive Systems
Guillermo Rodriguez, Editor(s)

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