Analytical potential fields and control strategies for motion planning

Seung Woo Kim; Daniel L Boley

doi:10.1007/3-540-64574-8_394

Analytical potential fields and control strategies for motion planning

Seung Woo Kim
, Daniel L Boley

Computer Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

We present a novel method for robot motion planning that constructs a network of collision free paths using a randomized search over a potential field in Configuration Space. Our method finds local minima and then connects them to form a graph, which we call a roadmap. We use a gradient search scheme to find the local minima very efficiently and accurately. To find a path between two configurations, it is then a simple matter to connect given start and goal configurations to the roadmap and to use a standard graph search algorithm to search the roadmap. The construction of the roadmap can be done in parallel with very little communication.

Original language	English (US)
Title of host publication	Tasks and Methods in Applied Artificial Intelligence - 11 th International Conference on Industrial and Engineering Applications of Artificial Intelligence and Expert Systems, IEA-1998-AIE, Proceedings
Editors	Moonis Ali, Angel Pasqual del Pobil, Jose Mira
Publisher	Springer Verlag
Pages	85-94
Number of pages	10
ISBN (Print)	3540645748, 9783540645740
DOIs	https://doi.org/10.1007/3-540-64574-8_394
State	Published - 1998
Event	11th International Conference on Industrial and Engineering Applications of Artificial Intelligence and Expert Systems, IEA-1998-AIE - Benicassim, Spain Duration: Jun 1 1998 → Jun 4 1998

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	1416
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Other

Other	11th International Conference on Industrial and Engineering Applications of Artificial Intelligence and Expert Systems, IEA-1998-AIE
Country/Territory	Spain
City	Benicassim
Period	6/1/98 → 6/4/98

Bibliographical note

Publisher Copyright:
© Springer-Verlag Berlin Heidelberg 1998.

Publisher link

10.1007/3-540-64574-8_394

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Kim, S. W., & Boley, D. L. (1998). Analytical potential fields and control strategies for motion planning. In M. Ali, A. P. del Pobil, & J. Mira (Eds.), Tasks and Methods in Applied Artificial Intelligence - 11 th International Conference on Industrial and Engineering Applications of Artificial Intelligence and Expert Systems, IEA-1998-AIE, Proceedings (pp. 85-94). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 1416). Springer Verlag. https://doi.org/10.1007/3-540-64574-8_394

Analytical potential fields and control strategies for motion planning. / Kim, Seung Woo; Boley, Daniel L.
Tasks and Methods in Applied Artificial Intelligence - 11 th International Conference on Industrial and Engineering Applications of Artificial Intelligence and Expert Systems, IEA-1998-AIE, Proceedings. ed. / Moonis Ali; Angel Pasqual del Pobil; Jose Mira. Springer Verlag, 1998. p. 85-94 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 1416).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kim, SW & Boley, DL 1998, Analytical potential fields and control strategies for motion planning. in M Ali, AP del Pobil & J Mira (eds), Tasks and Methods in Applied Artificial Intelligence - 11 th International Conference on Industrial and Engineering Applications of Artificial Intelligence and Expert Systems, IEA-1998-AIE, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 1416, Springer Verlag, pp. 85-94, 11th International Conference on Industrial and Engineering Applications of Artificial Intelligence and Expert Systems, IEA-1998-AIE, Benicassim, Spain, 6/1/98. https://doi.org/10.1007/3-540-64574-8_394

Kim SW, Boley DL. Analytical potential fields and control strategies for motion planning. In Ali M, del Pobil AP, Mira J, editors, Tasks and Methods in Applied Artificial Intelligence - 11 th International Conference on Industrial and Engineering Applications of Artificial Intelligence and Expert Systems, IEA-1998-AIE, Proceedings. Springer Verlag. 1998. p. 85-94. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/3-540-64574-8_394

Kim, Seung Woo ; Boley, Daniel L. / Analytical potential fields and control strategies for motion planning. Tasks and Methods in Applied Artificial Intelligence - 11 th International Conference on Industrial and Engineering Applications of Artificial Intelligence and Expert Systems, IEA-1998-AIE, Proceedings. editor / Moonis Ali ; Angel Pasqual del Pobil ; Jose Mira. Springer Verlag, 1998. pp. 85-94 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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abstract = "We present a novel method for robot motion planning that constructs a network of collision free paths using a randomized search over a potential field in Configuration Space. Our method finds local minima and then connects them to form a graph, which we call a roadmap. We use a gradient search scheme to find the local minima very efficiently and accurately. To find a path between two configurations, it is then a simple matter to connect given start and goal configurations to the roadmap and to use a standard graph search algorithm to search the roadmap. The construction of the roadmap can be done in parallel with very little communication.",

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Analytical potential fields and control strategies for motion planning

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