Path planning using Harmonic Functions and Probabilistic Cell Decomposition

• DOI: 10.1109/robot.2005.1570375
• Publication Date: 2006-01-18T18:42:54Z
• Authors: J. Rosell; P. Iniguez
• Keywords: Harmonic; Harmonic Analysis

Potential-field approaches based on harmonic functions have good path planning properties, although the explicit knowledge of robot's Configuration Space is required. To overcome this drawback, a combination with random sampling scheme proposed. Harmonic are computed over 2 d-tree decomposition d-dimensional that obtained probabilistic cell (sampling and classification). Cell biased towards more promising regions by using function values. classification performed evaluating set configurations deterministic sequence provides uniform incremental coverage cell. The proposed framework opens use to higher dimensional C-spaces.