Global search on potential field based on propagating interface modeling

• Main Authors: Jong, Jian Fu, 鐘健福
• Other Authors: Kao Shing Hwang
• Format: Others
• Language: zh-TW
• Published: 1998
• Online Access: http://ndltd.ncl.edu.tw/handle/42954558598457365692

碩士 === 國立中正大學 === 電機工程學系 === 86 === In this thesis, a global optimal collision-free path planning method is proposed by using the propagating interface technique which is a numerical technique for analyzing and computing interface motion. To implement the method, a measure, called the collision probability, is defined. The probability, which is analog to that of in the potential modeling method, is obtained by mapping the geometrical relationship between a robot and the obstacles into a Gaussian distribution domain. The collection of the associated probability of each grid in the working space form a potential field. Similar to searching the minimum energy problem, the propagating interface method can search a collision-free path by regarding the probability as the propagating speed. In addition, the interface propagating technique also can be applied to image segmentation problems in machine vision. Similar to the ones dealing with collision-free path planning, the method uses the differential intensity of each pixel's neighborhood as its propagating velocity. Therefore, the front of propagating interface should get stuck around the edge of a detected object.