Falcó Montesinos, AntonioChinesta, FranciscoMora Aguilar, Marta CovadongaDuval, Jean LouisHilario Pérez, LucíaMontés Sánchez, NicolásUCH. Departamento de Matemáticas, Física y Ciencias TecnológicasProducción Científica UCH 20192022-02-022022-02-022019-07-29Montés, N., Chinesta, F., Falcó, A., Mora, M., Hilario, L. and Duval, J. (2019). A PGD-based method for robot global path planning : a primer. In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2019), pp. 31-39. DOI: https://doi.org/10.5220/0007809000310039978-989-758-380-32184-2809http://hdl.handle.net/10637/13375Esta comunicación se encuentra disponible en la siguiente URL: https://www.scitepress.org/Papers/2019/78090/78090.pdfEste artículo pertenece a la 16th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2019) - Prague, Czech Republic, 29-31 July 2019.The present paper shows, for the first time, the technique known as PGD-Vademecum as a global path planner for mobile robots. The main idea of this method is to obtain a Vademecum containing all the possible paths from any start and goal positions derived from a harmonic potential field in a predefined map. The PGD is a numerical technique with three main advantages. The first one is the ability to bring together all the possible Poisson equation solutions for all start and goal combinations in a map, guaranteeing that the resulting potential field does not have deadlocks. The second one is that the PGD-Vademecum is expressed as a sum of uncoupled multiplied terms: the geometric map and the start and goal configurations. Therefore, the harmonic potential field for any start and goal positions can be reconstructed extremely fast, in a nearly negligible computational time, allowing real-time path planning. The third one is that only a few uncoupled parameters are required to reconstruct the potential field with a low discretization error. Simulation results are shown to validate the abilities of this technique.application/pdfenopen accessRobótica - Modelos matemáticos.Robotics - Mathematical models.Métodos de simulación.Machine theory.Simulation methods.Autómatas matemáticos, Teoria de.Comunicaciónhttps://doi.org/10.5220/0007809000310039https://creativecommons.org/licenses/by-nc-nd/4.0/deed.es