{'fraction_non_alphanumeric': 0.03348729792147806, 'fraction_numerical': 0.0, 'mean_word_length': 5.6183206106870225, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
A Path-Planning Algorithm Using Vector Potential Functions in Triangular Regions

A path-planning algorithm for a complex workspace split into triangular regions is investigated. The algorithm, which is formulated to achieve a goal configuration subject to the desired goal-point orientation, generates a collision-free region-to-region-compliant path. To that end, a set of vector potential functions is used. These functions are calculated using information on the triangular regions' vertices, the obstacles' positions, and the goal configuration. Path-planning procedures based on these constraint-satisfying functions are constructed. The proposed path-planning method, entailing velocity-and-orientation tracking control and configuration control, is applied to a unicycle vehicle, and its performance is compared with that of an existing path-planning scheme.