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Deadlock-free motion planning using the Laplace potential field

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Abstract:

In this paper we introduce a motion planning method which uses an artificial potential field obtained by solving Laplace's differential equation. A potential field based on Laplace's equation has no minimal point; therefore, path planning is performed without falling into local minima. Furthermore, we propose an application of the motion planning method for recursive motion planning in an uncertain environment. We illustrate the robot motion generated by the proposed method with simulation examples.

Document Type: Research Article

DOI: https://doi.org/10.1163/156855393X00285

Affiliations: Department of Quantum Engineering and Systems Science, Faculty of Engineering, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, Japan

Publication date: 1992-01-01

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