Real-Time Path Planning Based on Harmonic Functions under a Proper Generalized Decomposition-Based Framework

Real-Time Path Planning Based on Harmonic Functions under a Proper Generalized Decomposition-Based Framework

This paper presents a real-time global path planning method for mobile robots using harmonic functions, such as the Poisson equation, based on the Proper Generalized Decomposition (PGD) of these functions. The main property of the proposed technique is that the computational cost is negligible in re...

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Bibliographic Details
Main Authors: Nicolas Montés, Francisco Chinesta, Marta C. Mora, Antonio Falcó, Lucia Hilario, Nuria Rosillo, Enrique Nadal
Format: Article
Language:English
Published: MDPI AG 2021-06-01
Series:Sensors
Subjects:
path planning
potential fields
harmonic functions
Proper Generalized Decomposition
Poisson equation
Online Access:https://www.mdpi.com/1424-8220/21/12/3943

Internet

https://www.mdpi.com/1424-8220/21/12/3943

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