Abstract
The robot navigation planning problem in the case of either structured or unstructured environment is solved by means of an electromagnetic analogue. The robot’s environment is represented by a two-dimensional working area within which there exist certain obstacles of arbitrary shape. The robot and the target are represented by perfect conductors while the working area is represented by a sheet of finite conductivity. The obstacles are represented by regions within the working area of zero conductivity. If a voltage is applied between the robot and the target the problem of navigation planning is transformed to the one of finding the flux lines of the current flow established. The shortest flux line represents the optimal path. The working area and the obstacles can be of any shape. The technique employed is sufficiently fast to warrant its application to actual problems.
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© 1992 Springer Science+Business Media Dordrecht
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Petridis, V., Tsiboukis, T.D. (1992). An Optimal Solution to the Robot Navigation Planning Problem Based on an Electromagnetic Analogue. In: Tzafestas, S.G. (eds) Robotic Systems. Microprocessor-Based and Intelligent Systems Engineering, vol 10. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-2526-0_34
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DOI: https://doi.org/10.1007/978-94-011-2526-0_34
Publisher Name: Springer, Dordrecht
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