Masoud, A.A. (2006) Agile, Steady Response of Inertial, Constrained Holonomic Robots Using Nonlinear, Anisotropic Dampening Forces. Decision and Control, 2006 45th IEEE conference, 1.
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Abstract
In this paper, the harmonic potential field (HPF) approach to motion planning is adapted to work with second order mechanical systems. The extension is based on a novel type of dampening forces called: nonlinear, anisotropic, dampening forces (NADFs). It is shown that NADFs are effective aids for planning spatially-constrained kinodynamic trajectories for mechanical systems. Theoretical developments and simulation results are provided in the paper
| Item Type: | Article |
|---|---|
| Date: | December 2006 |
| Date Type: | Publication |
| Subjects: | Computer |
| Divisions: | College Of Engineering Sciences > Electrical Engineering Dept |
| Creators: | Masoud, A.A. |
| ID Code: | 14530 |
| Deposited By: | KFUPM ePrints Admin |
| Deposited On: | 24 Jun 2008 16:39 |
| Last Modified: | 12 Apr 2011 13:16 |
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