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A 3-D Potential panel method for robot motion planning

Published online by Cambridge University Press:  01 July 1997

Yanjun Zhang
Affiliation:
Robotics & Automation Laboratory, A-CIM Center & CACS, The University of Southwestern Louisiana, Lafayette, LA 70504, USA
Kimon P. Valavanis
Affiliation:
Robotics & Automation Laboratory, A-CIM Center & CACS, The University of Southwestern Louisiana, Lafayette, LA 70504, USA

Abstract

A potential panel method is proposed to solve the collision-free path planning problem for a free-flying robot operating in an obstacle filled 3-D environment. The problem is solved in three steps: (1) transform the arbitrary shaped obstacles in the 3-D workspace into simple convex polyhedrons; (2) generate an artificial potential field using the 3-D panel method in the 3-D workspace; (3) generate a streamline from the starting position towards the goal position in the artificial potential field. The computational complexity of the pertinent algorithms justify the efficiency of the approach and its applicability in real-time. Simulation results illustrate the potential of the proposed approach. The reported research is the outgrowth of the 2-D method, already published.

Type
Research Article
Copyright
© 1997 Cambridge University Press

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Footnotes

This work has been partially funded by an NSF grant, BES 95-06771. I wish to thank Timothy Hebert, the Graduate assistant who helped to run the simulations.