- Navigation function
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Navigation function usually refers to a function of position, velocity, acceleration and time which is used to plan robot trajectories through the environment. Generally, the goal of a navigation function is to create feasible, safe paths that avoid obstacles while allowing a robot to move from its starting configuration to its goal configuration.
Potential functions assume that the environment or work space is known. Obstacles are assigned a high potential value, and the goal position is assigned a low potential. To reach the goal position, a robot only needs to follow the negative gradient of the surface.
See also
References
- LaValle, Steven M. (2006), Planning Algorithms (First ed.), Cambridge University Press, ISBN 978-0521862059, http://planning.cs.uiuc.edu/
- Laumond, Jean-Paul (1998), Robot Motion Planning and Control (First ed.), Springer, ISBN 3-540-76219-1, http://homepages.laas.fr/jpl/book-toc.html
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