https://murray.cds.caltech.edu/index.php?action=history&feed=atom&title=Vehicle_Motion_Planning_Using_Stream_Functions 2026-06-18T06:46:02Z Revision history for this page on the wiki MediaWiki 1.44.2 https://murray.cds.caltech.edu/index.php?title=Vehicle_Motion_Planning_Using_Stream_Functions&diff=19942&oldid=prev 2016-05-15T06:18:58Z

<p>htdb2wiki: creating page for 2002k_wm02-icra.html</p> <p><b>New page</b></p><div>{{HTDB paper<br /> | authors = Stephen Waydo and Richard M. Murray<br /> | title = Vehicle Motion Planning Using Stream Functions<br /> | source = 2003 International Conference on Robotics and Automation<br /> | year = 2002<br /> | type = Conference <br /> Paper<br /> | funding = DARPA/mica<br /> | url = http://www.cds.caltech.edu/~murray/preprints/wm02-icra.pdf<br /> | abstract = <br /> Borrowing a concept from hydrodynamic analysis, this paper presents stream functions which satisfy Laplace&#039;s equation as a local-minima free method for producing potential-field based navigation functions in two dimensions. These functions generate smoother paths (i.e. more suited to aircraft-like vehicles) than previous methods. A method is developed for constructing analytic stream functions to produce arbitrary vehicle behaviors while avoiding obstacles, and an exact solution for the case of a single uniformly moving obstacle is presented. The effects of introducing multiple obstacles are discussed and current work in this direction is detailed. Experimental results generated on the Cornell RoboFlag testbed are presented and discussed.<br /> <br /> | flags = <br /> | tag = wm02-icra<br /> | id = 2002k<br /> }}</div>

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