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Navigation function usually refers to a function of position, velocity, acceleration and time which is used to plan robot trajectories through the environment. Generally, the goal of a navigation function is to create feasible, safe paths that avoid obstacles while allowing a robot to move from its starting configuration to its goal configuration. == Potential functions as navigation functions == Potential functions assume that the environment or work space is known. Obstacles are assigned a high potential value, and the goal position is assigned a low potential. To reach the goal position, a robot only needs to follow the negative gradient of the surface. We can formalize this concept mathematically as following: Let be the state space of all possible configurations of a robot. Let denote the goal region of the state space. Then a potential function is called a (feasible) navigation function if 〔Lavalle, Steven, (Planning Algorithms Chapter 8 )〕 # # if and only if no point in , the local operator produces a state for which . 抄文引用元・出典: フリー百科事典『 ウィキペディア（Wikipedia）』 ■ウィキペディアで「navigation function」の詳細全文を読む スポンサード リンク
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