(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
Subjects:	Computer
Department:	College of Engineering and Physics > Electrical Engineering
Depositing User:	Mr. Admin Admin
Date Deposited:	24 Jun 2008 13:39
Last Modified:	01 Nov 2019 14:06
URI:	http://eprints.kfupm.edu.sa/id/eprint/14530