Global path planning using artificial potential fields

  title={Global path planning using artificial potential fields},
  author={Charles W. Warren},
This paper describes a path planning technique for robotic manipulators and mobile robots in the presence of stationary obstacles. The planning consists of applying potential fields around C-Space obstacles and using this field to select a safe path for the robot to follow. The advantage of using potential fields in path planning is tha t they offer a relatively fast and effective way to solve for safe paths around obstacles. In the method used to accomplish path planning presented here, a… CONTINUE READING
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