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Solid mechanics-inspired sensor-based motion planner

Charifa, S.M. and Masoud, A.A. (2005) Solid mechanics-inspired sensor-based motion planner. Control Applications, 2005. CCA 2005. Proceedings of 2005 IEEE conference, 1.

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Abstract

In this paper a motion planner capable of laying a trajectory for a robot operating in a complex, stationary, unknown environment based on the sensory data it acquires online from its finite range sensors is suggested. The planner utilizes concepts from the area of mechanics of solids to generate the navigation field. A new setting for the biharmonic potential field approach to planning (K. Hashimoto et al., 2000) is suggested. The new setting makes it possible to gradually feed the parts of the environment, as they are discovered online by the sensors of the robot, to the biharmonic potential-based planner. Theoretical developments of the method as well as simulation results are provided



Item Type:Article
Date:August 2005
Date Type:Publication
Subjects:Computer
Divisions:College Of Engineering Sciences > Electrical Engineering Dept
Creators:Charifa, S.M. and Masoud, A.A.
ID Code:14629
Deposited By:KFUPM ePrints Admin
Deposited On:24 Jun 2008 16:43
Last Modified:12 Apr 2011 13:16

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