Robot Path Planning in Impedance Networks

摘要

The analogue between real physical space and multi-gird impedance networks circuit is firstly analyzed in this paper. The phenomenon that current flows along the branch with lower impedance in circuit is fundamentally similar to the aim of path planning for a shorter path with better feasibility in the map. The planner based on impedance networks can search out a short and wide path with light traffic jam for robots and also overcome the shortcoming of local optimum in some path planners. The theoretical analysis and simulation prove the feasibility and advantage of this method.