This approach appears to be closely related to our research. However , there are several significant differences between the path planning and robot navigation problem and our task allocation and agentcoordination problem, and the techniques that are used for solving these problems. Global path planning using artificial potential fields . If multiple paths are found, the best may be chosen. The point in configuration space representing the manipulator is acted upon by a force equal to the negative gradient of this potential field, and driven away from obstacles and to the minimum.
Global methodologies have several disadvantages.
Global path planning using artificial potential fields . Later several applications of this approach to solve path planning problems in a stationary environment have been developed. Global path planning using artificial potential fields . In Proc. of the Int. If a path exists, it will be found.