(2007) Dynamic Trajectory Generation for Spatially Constrained Mechanical Systems Using Harmonic Potential Fields. Robotics and Automation, 2007 IEEE International conference, 1.

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Abstract

The harmonic potential field (HPF) approach to motion planning is shown to provide an efficient and provably-correct basis for building intelligent, context-sensitive, and goal-oriented controllers. In the paper by the author (2006) a novel type of dampening forces called: nonlinear, anisotropic, dampening forces (NADFs) are used to convert the guidance signal from an HPF into a navigation control signal with verifiable capabilities. This work provides two extensions of the NADF approach. The first is a blind, iterative procedure that can totally cancel the steady state error. The other extension is concerned with the nonholonomic case. Theoretical developments and simulation results are provided.

Item Type:	Article
Subjects:	Computer
Department:	College of Engineering and Physics > Electrical Engineering
Depositing User:	Mr. Admin Admin
Date Deposited:	24 Jun 2008 13:46
Last Modified:	01 Nov 2019 14:07
URI:	http://eprints.kfupm.edu.sa/id/eprint/14709