TY - GEN
T1 - A harmonic potential field approach for navigating a rigid, nonholonomic robot in a cluttered environment
AU - Masoud, Ahmad A.
PY - 2009
Y1 - 2009
N2 - This paper demonstrates the ability of the harmonic potential field (HPF) planning approach to generate a provably-correct, constrained, wellbehaved trajectory for a rigid, nonholonomic robot (a tractor-trailer robot is not rigid) in a stationary, cluttered environment. This is accomplished using a closed loop control scheme that is inspired by model predictive control (MPC). The scheme is realized using a synchronizing signal derived from the HPF along with a procedure for inverting the process the robot is using for= actuating motion. Performance proofs as well as simulation results of thesuggested planner are supplied.
AB - This paper demonstrates the ability of the harmonic potential field (HPF) planning approach to generate a provably-correct, constrained, wellbehaved trajectory for a rigid, nonholonomic robot (a tractor-trailer robot is not rigid) in a stationary, cluttered environment. This is accomplished using a closed loop control scheme that is inspired by model predictive control (MPC). The scheme is realized using a synchronizing signal derived from the HPF along with a procedure for inverting the process the robot is using for= actuating motion. Performance proofs as well as simulation results of thesuggested planner are supplied.
UR - https://www.scopus.com/pages/publications/70350359876
U2 - 10.1109/ROBOT.2009.5152177
DO - 10.1109/ROBOT.2009.5152177
M3 - Conference contribution
AN - SCOPUS:70350359876
SN - 9781424427895
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3993
EP - 3999
BT - 2009 IEEE International Conference on Robotics and Automation, ICRA '09
ER -