Potential fields have been widely used for mobile robot navigation and obstacle avoidance. Their success is due to two main reasons: the simplicity with which a path planning problem can be represented and solved and, most of all, the computational efficiency that allows its real-time applicability. In this paper we analyze the complexity of calculating the artificial potential field and propose a novel algorithm that statistically reduces it
AI-CART: An Algorithm to Incrementally Calculate Artificial potential fields in Real-Time
PIAGGIO, MAURIZIO;SGORBISSA, ANTONIO
1999-01-01
Abstract
Potential fields have been widely used for mobile robot navigation and obstacle avoidance. Their success is due to two main reasons: the simplicity with which a path planning problem can be represented and solved and, most of all, the computational efficiency that allows its real-time applicability. In this paper we analyze the complexity of calculating the artificial potential field and propose a novel algorithm that statistically reduces it
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