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oai:www.ideals.illinois.edu:2142/22887 2023-07-10 col_2142_5131 col_2142_8888 com_2142_5130 com_2142_8887 com_2142_234

Ahuja, Narendra Chuang, Jen-Hui 2011-05-07T13:54:48Z 2011-05-07T13:54:48Z 10000-01-01 1991 Potential functions are used to represent the topological structure of free space in solving path planning problems because of the simplicity in the free space representation and the guidance provided by the negative gradient of the potential field in the form of repulsive forces. In this thesis, a Newtonian potential function is used to represent planar polygonal objects and obstacles. The closed-form expression of this potential field as well as some other gradient-related quantities are derived. Such results not only eliminate the problems associated with the discretization of the object and obstacles in evaluating the likelihood of collision, but also make the search for the optimal object configurations efficient. The object path is constrained geometrically according to a simple topological plan which is specified in terms of object skeleton and free space bottlenecks. It is shown that the planned path is safe and smooth. The corresponding planning algorithms for three-dimensional space and for articulated objects are also given. The skeleton of an object can also be obtained by using potential functions in place of the distance function. The skeleton thus defined has been generalized easily to three dimensions. Made available in DSpace on 2011-05-07T13:54:48Z (GMT). No. of bitstreams: 2 license.txt: 4922 bytes, checksum: 910b249b4beec47e7ab768910c8f966f (MD5) 9210767.pdf: 4668103 bytes, checksum: 165d5e9dd61b3e484f0eaa7e15118ad2 (MD5) Previous issue date: 1991 Item marked as restricted to the 'UIUC Users [automated]' Group (id=2) by Howard Ding (hding2@illinois.edu) on 2011-05-07T15:00:42Z Item is restricted indefinitely. Restriction data tranferred 2014-07-01T11:28:44-05:00 Original Data Group with Access UIUC Users [automated] Release Date: none Reason: ETDs are only available to UIUC Users without author permission ETDs are only available to UIUC Users without author permission U of I Only AAI9210767 (UMI)AAI9210767 http://hdl.handle.net/2142/22887 eng Copyright 1991 Chuang, Jen-Hui Engineering, Electronics and Electrical Computer Science Path planning using the Newtonian potential text Electrical and Computer Engineering Electrical and Computer Engineering University of Illinois at Urbana-Champaign Dissertation Ph.D.