Fully continuous vector fields for mobile robot navigation on sequences of discrete triangular regions

Luciano C. A. Pimenta, Guilherme A. S. Pereira, Renato C. Mesquita
2007 Engineering of Complex Computer Systems (ICECCS), Proceedings of the IEEE International Conference on  
Several recent works have combined discrete and continuous motion planning methods for robot navigation and control. The basic idea of some of these works is to plan a path, by determining a sequence of neighboring discrete regions of the configuration space, and to assign a vector field that drives the robots through these regions. This paper addresses the problem of efficiently computing vector fields over a sequence of consecutive triangles. Differently from previous numerical approaches,
more » ... ch were not able to compute fully continuous fields in triangulated spaces, this paper presents an algorithm that is able to compute guaranteed continuous vector fields over a sequence of adjacent triangles.
doi:10.1109/robot.2007.363614 dblp:conf/icra/PimentaPM07 fatcat:4jwf7ykh3bcwzcq5obxxnlg77y