Dynamic Trajectory Generation for Spatially Constrained Mechanical Systems Using Harmonic Potential Fields

(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: https://eprints.kfupm.edu.sa/id/eprint/14709