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Motion Planning in the Presence of Directional and Obstacle Avoidance Constraints Using Nonlinear Anisotropic, Harmonic Potential Fields: A Physical Metaphor

Masoud, Samer A. and Masoud, Ahmad A. (2002) Motion Planning in the Presence of Directional and Obstacle Avoidance Constraints Using Nonlinear Anisotropic, Harmonic Potential Fields: A Physical Metaphor. IEEE Transactions on Systems, Man, & Cybernetics, Part A: systems and humans, 32 (6). pp. 705-723.

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Abstract

Motion planning, or goal-oriented, context-sensitive, intelligent control is essential if an agent is to act in a useful manner.This paper suggests a new class of motion planners that can mark a constrained trajectory to a target zone in an environment that need not necessarily be a priori known. The novelty of the suggested planner lies in its ability to enforce region avoidance and direction satisfaction constraints jointly. To the best of the authors’ knowledge, this is the first time that directional constraints have been addressed in the motion planning literature. To build such a planner, the potential field approach is used for inducing the control action.In addition, to cope with the presence of the above constraints(in particular, the directional constraints), a new type of potential field, called the nonlinear anisotropic harmonic potential field, is suggested. The planner has applications in traffic management and operations research among others. Development of the approach, proofs of correctness, and simulation results are supplied.



Item Type:Article
Date:November 2002
Date Type:Publication
Subjects:Electrical
Divisions:College Of Engineering Sciences > Electrical Engineering Dept
Creators:Masoud, Samer A. and Masoud, Ahmad A.
Email:UNSPECIFIED, masoud@kfupm.edu.sa
ID Code:1212
Deposited By:Obaid-Ur-Rehman Khattak
Deposited On:23 Apr 2008 10:45
Last Modified:12 Apr 2011 13:08

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