کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
512977 866442 2011 6 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
A boundary-integral algorithm for adaptive motion planning
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر نرم افزارهای علوم کامپیوتر
پیش نمایش صفحه اول مقاله
A boundary-integral algorithm for adaptive motion planning
چکیده انگلیسی

An algorithm is developed for adaptively computing the path of an object in a domain with arbitrary geometry in the presence of stationary or arbitrarily moving obstacles. The methodology hinges on an analogy with heat transfer where hard walls and obstacles are cold surfaces while targeted positions such as doorways or laboratory benches are hot surfaces. At any instant, the navigator moves in a direction that maximizes the rate of inward heat transport so as to get warmer. A central part of the algorithm is the fast solution of the heat transfer problem using a boundary-element method. Illustrative examples are provided for stationary and moving obstacles in sample domain geometries.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Engineering Analysis with Boundary Elements - Volume 35, Issue 1, January 2011, Pages 123–128
نویسندگان
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