Deadlock-free motion planning using the Laplace potential field

In this paper we introduce a motion planning method which uses an artificial potential field obtained by solving Laplace's differential equation. A potential field based on Laplace's equation has no minimal point; therefore, path planning is performed without falling into local minima. Furthermore, we propose an application of the motion planning method for recursive motion planning in an uncertain environment. We illustrate the robot motion generated by the proposed method with simulation examples.