Path planning based on water-sink model

Jin-Woo Jung

Path planning based on water-sink model

EuroSciCon Conference & Expo on Robotics, Automation & Data Analytics
April 08-09, 2019 | Paris, France

Jin-Woo Jung

Dongguk University, Republic of Korea

Posters & Accepted Abstracts: Am J Compt Sci Inform Technol

Abstract

Path planning is one of the core research areas in robotics which deals with finding the optimal path for robots considering the required constraints. In this talk, we will revisit potential field theory and its local minima problem. To make a local-minimafree potential field, a novel concept, water-sink model based path planning, is introduced. By mimicking the water flow in water sink, robots can arrive to the goal all the time without local minima. Mathematical validation and various experimental results including the comparison with random walks will be addressed together to show the effectiveness of this water-sink model method.