Safe Navigation in Cluttered Environments Via Spline-Based Harmonic Potential Fields
Fuente:
arXiv
Guardado en:
| Autores principales: | , , , |
|---|---|
| Formato: | Preprint |
| Publicado: |
2026
|
| Materias: | |
| Acceso en línea: | |
| Etiquetas: |
Agregar Etiqueta
Sin Etiquetas, Sea el primero en etiquetar este registro!
|
| _version_ | 1866911386520518656 |
|---|---|
| author | Nicu, Theodor-Gabriel Stoican, Florin Ioan, Daniel-Mihail Prodan, Ionela |
| author_facet | Nicu, Theodor-Gabriel Stoican, Florin Ioan, Daniel-Mihail Prodan, Ionela |
| contents | We provide a complete motion-planning mechanism that ensures target tracking and obstacle avoidance in a cluttered environment. For a given polyhedral decomposition of the feasible space, we adopt a novel procedure that constrains the agent to move only through a prescribed sequence of cells via a suitable control policy.
For each cell, we construct a harmonic potential surface induced by a Dirichlet boundary condition given as a cardinal B-spline curve. A detailed analysis of the curve behavior (periodicity, support) and of the associated control point selection allows us to explicitly compute these harmonic potential surfaces, from which we subsequently derive the corresponding control policy. We illustrate that the resulting construction funnels the agent safely along the chain of cells from the starting point to the target. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2601_13273 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Safe Navigation in Cluttered Environments Via Spline-Based Harmonic Potential Fields Nicu, Theodor-Gabriel Stoican, Florin Ioan, Daniel-Mihail Prodan, Ionela Systems and Control We provide a complete motion-planning mechanism that ensures target tracking and obstacle avoidance in a cluttered environment. For a given polyhedral decomposition of the feasible space, we adopt a novel procedure that constrains the agent to move only through a prescribed sequence of cells via a suitable control policy. For each cell, we construct a harmonic potential surface induced by a Dirichlet boundary condition given as a cardinal B-spline curve. A detailed analysis of the curve behavior (periodicity, support) and of the associated control point selection allows us to explicitly compute these harmonic potential surfaces, from which we subsequently derive the corresponding control policy. We illustrate that the resulting construction funnels the agent safely along the chain of cells from the starting point to the target. |
| title | Safe Navigation in Cluttered Environments Via Spline-Based Harmonic Potential Fields |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2601.13273 |