An Obstacle Avoidance Planning Scheme for Robot Based on Digital Potential Field in C-T Space
Changjun Zhao · 2005
In this paper, an obstacle avoidance scheme for robot using digital potential field in C-T configuration-time (C-T) space is presented. In terms of a grid digital potential filed with repulsion potential energy and attractive potential energy in the C-T space, collision avoidance for robot to the dynamic obstacle is implemented using interpolation of discrete path in the C-T space. Simulation shows that, compared to conventional methods, the scheme has higher computation efficiency, and reduces much explicit computation in C space. The scheme is applicable to avoidance path planning for robot under a dynamic environment.