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Biharmonic navigation using radial basis functions

Published online by Cambridge University Press:  17 June 2021

Xu-Qian Fan  and
Wenyong Gong Open the ORCID record for Wenyong Gong [Opens in a new window]
Xu-Qian Fan
Affiliation:
Department of Mathematics, Jinan University, Guangzhou, China
Wenyong Gong*
Affiliation:
Department of Mathematics, Jinan University, Guangzhou, China
*
*Corresponding author. Email: gongwenyong@jnu.edu.cn
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Abstract

Path planning has been widely investigated by many researchers and engineers for its extensive applications in the real world. In this paper, a biharmonic radial basis potential function (BRBPF) representation is proposed to construct navigation fields in 2D maps with obstacles, and it therefore can guide and design a path joining given start and goal positions with obstacle avoidance. We construct BRBPF by solving a biharmonic equation associated with distance-related boundary conditions using radial basis functions (RBFs). In this way, invalid gradients calculated by finite difference methods in large size grids can be preventable. Furthermore, paths constructed by BRBPF are smoother than paths constructed by harmonic potential functions and other methods, and plenty of experimental results demonstrate that the proposed method is valid and effective.

Keywords

Path planningRadial basis functionBiharmonic function
Type
Reply
Information
Robotica , Volume 40 , Issue 3 , March 2022 , pp. 599 - 610
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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