Analogue computation of collision-free paths

摘要

A method for robot path planning that uses a 2D scalar electric potential subject to Neumann boundary conditions is presented. Obstacles are modeled as nonconducting solids in a conducting medium. The starting point is modeled as a current source and the goal as an equal and opposite current sink. It is shown that this formulation is considerably more powerful than the recent potential-field algorithm of C.I. Connolly et al. (1990), particularly when navigating long, narrow corridors. Feasible paths for navigation are current streamlines, as demonstrated by the results of software simulations in a 2D Euclidean plane. One of the principal advantages of the method is that it can be implemented with parallel analog hardware in the form of a resistive grid. With analog VLSI chips, it will be possible to plan paths for realistic environments in real time.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>