A vector-based algorithm for planning the path of a robot among irregularly shaped obstacles is presented. This algorithm combines many of the desirable features of graph searching and potential field approaches to path planning. In this technique, a vector is created from the start position to the goal of the robot. If this vector crosses forbidden space, a second vector is used to determine a new intermediate goal and the previous goal is stored on a stack. The procedure is repeated until the latest intermediate goal can be reached, at which point the robot can be moved to this goal. This procedure is repeated by popping a goal off of the stack and continuing until the ultimate goal is reached. Preliminary results show much promise for quickly planning paths of robots in two or more dimensions. Examples of planning around multiple two-dimensional obstacles of convex and concave shapes are shown.>

A technique for coordinating the paths of multiple robots in the presence of obstacles is presented. To accomplish this, the robots are prioritized. A path that avoids only the stationary obstacles is planned for the highest-priority robot. A trajectory for the next-lowest priority robot is planned so that it avoids both the stationary obstacles and the higher-priority robot, which is treated as a moving obstacle. This process is continued until trajectories for all of the robots have been planned. The planning is accomplished by first mapping the real space of the robots into configuration-space-time. Potential fields are applied around the c-space-time obstacles and are used to modify the path of the robot. The advantage of using artificial potential fields is that they offer a relatively fast and efficient way to solve for safe trajectories around both stationary and moving obstacles. In the method used to perform path planning, a trial path through the c-span-time is chosen and then modified under the influence of the potential fields until an appropriate path is found.>

The author describes a path planning technique for robotic manipulators and mobile robots in the presence of stationary obstacles. The planning consists of applying potential fields around configuration-space obstacles and using these fields to select a safe path for the robot to follow. The advantage of using potential fields in path planning is that they offer a relatively fast and effective way to solve for safe paths around obstacles. In the proposed method of path planning, a trial path is chosen and then modified under the influence of the potential field until an appropriate path is found. By considering the entire path, the problem of being trapped in a local minimum is greatly reduced, allowing the method to be used for global planning. The algorithm was tried with success on many different realistic planning problems. By way of illustration, the algorithm is applied to a two-dimensional revolute manipulator, a mobile robot capable of translation only, and a mobile robot capable of both translation and rotation.>