Abstract
This chapter has revealed the new advantages provided by the addition of viscosity and friction to the classical implementations of well-known harmonic functions. The proposed model, similar to the Stokes equations of the fluid mechanics, allows one to get a set of admissible paths and is applicable to multi-goal problems for robotic vehicles on uneven terrain. The latter planning is obtained without additional computation.
A point-to-point application on a real terrain has been compared to the genetic algorithms principles applied to the computation of near-optimal routes and gives similar results, while directly adding continuity in the velocities and accelerations without additional trajectory smoothing.
The method is also an interesting way to get preferential routes for indoor industrial robots and motorised aids for the disabled.
Further research will include optimising the terrain meshing in order to reduce the number of equations, and experiments on the site with the robot.
The planned routes are also currently under investigation for multiple-robot behaviour optimisation, following the multiple-agent theories with communication.
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Louste, C., Liegeois, A. (1999). Robot path planning using models of fluid mechanics. In: Tzafestas, S.G., Schmidt, G. (eds) Progress in system and robot analysis and control design. Lecture Notes in Control and Information Sciences, vol 243. Springer, London. https://doi.org/10.1007/BFb0110569
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DOI: https://doi.org/10.1007/BFb0110569
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