Biharmonic navigation using radial basis functions. Issue 3 (17th March 2022)

• Record Type: Journal Article
• Authors: Fan, Xu-Qian; Gong, Wenyong
• Is Part Of: Robotica. Volume 40:Issue 3(2022)
• Page Start: 599
• Page End: 610
• Publication Date: 2022-03-17
• Subjects: Path planning -- Radial basis function -- Biharmonic function; Robots -- Periodicals; 629.89205
• DOI: 10.1017/S0263574721000709
• Languages: English
• ISSNs: 0263-5747

Abstract

Abstract: Path planning has been widely investigated by many researchers and engineers for its extensive applications in the real world. In this paper, a biharmonic radial basis potential function (BRBPF) representation is proposed to construct navigation fields in 2D maps with obstacles, and it therefore can guide and design a path joining given start and goal positions with obstacle avoidance. We construct BRBPF by solving a biharmonic equation associated with distance-related boundary conditions using radial basis functions (RBFs). In this way, invalid gradients calculated by finite difference methods in large size grids can be preventable. Furthermore, paths constructed by BRBPF are smoother than paths constructed by harmonic potential functions and other methods, and plenty of experimental results demonstrate that the proposed method is valid and effective.