Path Planning And Collision Avoidance Among Objects By Means Of Potential Fields

Bassam Hussien; R. W. McLaren; Ali Ismael

doi:10.1117/12.969291

21 March 1989 Path Planning And Collision Avoidance Among Objects By Means Of Potential Fields

Bassam Hussien, R. W. McLaren, Ali Ismael

Proceedings Volume 1095, Applications of Artificial Intelligence VII; (1989) https://doi.org/10.1117/12.969291
Event: SPIE 1989 Technical Symposium on Aerospace Sensing, 1989, Orlando, FL, United States

Abstract

This paper deals with the use of the Potential Field Approach as a means of collision avoidance and path planning for the "Generalized Mover's Problem" in the presence of obstacles. Although an important and fundamental problem, relatively little has been done using this approach over the last several years. It can also be seen that only a few path planning algorithms developed work directly with continuous state-spaces. The potential field approach was developed by Khatib in 1980. There is, however, considerable room for improvement and expansion of Khatib's algorithm. Khatib's potential functions were not defined for interaction between two general objects, but only for interaction between a certain subclass of objects and a point. Thus in this paper the following goal will be sought: * Extend Khatib's potential function method to the case of the interaction between two general objects, rather than just between a point and an object.

Citation Download Citation

Bassam Hussien, R. W. McLaren, and Ali Ismael "Path Planning And Collision Avoidance Among Objects By Means Of Potential Fields", Proc. SPIE 1095, Applications of Artificial Intelligence VII, (21 March 1989); https://doi.org/10.1117/12.969291

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