Global Motion Planning using a Laplacian Potential Field.

摘要

This paper describes a motion planning method which use an artifical potential fleld based on the solution of the Laplacian differential equation, and illustrates several simulation examples, both with mobile robots and manipulator arms.There ie no minimal point in the of the Laplacian differential equation. This mathematical nature guarantees a robot to attain to the goal and to avoid collision with the obstacles. And this method can apply 4 or more degrees of freedom maniuplators simply because of that the Laplacian differential equation is easy to expand into high-dimensional space. A robot motion plan which is in knownn environment with the given start and goal configurations is created by tracking the valley of the potential field.