Abstract
One of existing approaches to path planning problems uses a potential function to represent the topological structure of the free space. 1 Newtonian potential was used in [1] to represent object and obstacles in the 2D workspace wherein their boundaries are assumed to be uniformly charged. In this paper, the source distributions are extended to more general cases. It is shown that of the source distribution of a line segment can be uniform, linear or quadratic, the repulsion between two line segments can be evaluated analytically. Simulation results show that by properly adjusting the charge distribution along obstacle/object boundaries, path planning results can indeed be improved in terms of collision avoidance.
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© 1997 Springer-Verlag Berlin Heidelberg
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Chuang, JH., Tsai, CH., Tsai, WH., Yang, CY. (1997). Potential-based modeling of 2D regions using non-uniform source distributions. In: Chin, R., Pong, TC. (eds) Computer Vision — ACCV'98. ACCV 1998. Lecture Notes in Computer Science, vol 1352. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-63931-4_259
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DOI: https://doi.org/10.1007/3-540-63931-4_259
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