This item is only available for download by members of the University of Illinois community. Students, faculty, and staff at the U of I may log in with your NetID and password to view the item. If you are trying to access an Illinois-restricted dissertation or thesis, you can request a copy through your library's Inter-Library Loan office or purchase a copy directly from ProQuest.
Permalink
https://hdl.handle.net/2142/22887
Description
Title
Path planning using the Newtonian potential
Author(s)
Chuang, Jen-Hui
Issue Date
1991
Doctoral Committee Chair(s)
Ahuja, Narendra
Department of Study
Electrical and Computer Engineering
Discipline
Electrical and Computer Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
Ph.D.
Degree Level
Dissertation
Keyword(s)
Engineering, Electronics and Electrical
Computer Science
Language
eng
Abstract
Potential functions are used to represent the topological structure of free space in solving path planning problems because of the simplicity in the free space representation and the guidance provided by the negative gradient of the potential field in the form of repulsive forces. In this thesis, a Newtonian potential function is used to represent planar polygonal objects and obstacles. The closed-form expression of this potential field as well as some other gradient-related quantities are derived. Such results not only eliminate the problems associated with the discretization of the object and obstacles in evaluating the likelihood of collision, but also make the search for the optimal object configurations efficient. The object path is constrained geometrically according to a simple topological plan which is specified in terms of object skeleton and free space bottlenecks. It is shown that the planned path is safe and smooth. The corresponding planning algorithms for three-dimensional space and for articulated objects are also given. The skeleton of an object can also be obtained by using potential functions in place of the distance function. The skeleton thus defined has been generalized easily to three dimensions.
Use this login method if you
don't
have an
@illinois.edu
email address.
(Oops, I do have one)
IDEALS migrated to a new platform on June 23, 2022. If you created
your account prior to this date, you will have to reset your password
using the forgot-password link below.
