On the applications of harmonic functions to robotics
| Author(s) : | Roderic A. Grupen Christopher I. Connolly, |
| Publisher : | N/A |
| Publication Date : | 1993 |
| ISSN : | N/A |
| Abstract : | Harmonic functions are solutions to Laplace's Equation. As noted in a previous paper, they can be used to advantage for potential-field path planning, since they do not exhibit spurious local minima. In this paper, harmonic functions are shown to have a number of other properties (including completeness) which are essential to robotics applications. These properties strongly recommend harmonic functions as a mechanism for robot control. 1, |