Online motion planning using laplace potential fields

@inproceedings{lvarez2003OnlineMP,
  title={Online motion planning using laplace potential fields},
  author={Diego {\'A}lvarez and Juan C. {\'A}lvarez and Rafael C. Gonz{\'a}lez},
  booktitle={ICRA},
  year={2003}
}
Abslracf-Robot Navigation is an especially challenging problem when only online sensor information is available. The main problem h to guarantee global properties, such as algorithm convergence or trajectory optimality, based on local information. In this paper we present a new non-heuristic sensor-based planning algorithm, characterized by: 1) it is based in potential functions, allowing to introduce optimality criteria, 2) it is computed incrementally to introduce last sewor readings, and 3… CONTINUE READING
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