]> 2026-05-08T20:43:00+00:00 Vehicle Motion Planning Using Stream Functions 0 en Borrowing a concept from hydrodynamic analysis, this paper presents stream functions which satisfy Laplace'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. Stephen Waydo and Richard M. Murray 2002k 2003 International Conference on Robotics and Automation wm02-icra Conference Paper 2016-05-15T06:18:58Z 2457523.7631713 Vehicle Motion Planning Using Stream Functions Title 102 en Title