TY - GEN
T1 - Dynamic trajectory generation for spatially constrained mechanical systems using harmonic potential fields
AU - Masoud, Ahmad A.
PY - 2007
Y1 - 2007
N2 - 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 [1] 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.
AB - 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 [1] 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.
UR - https://www.scopus.com/pages/publications/36349020259
U2 - 10.1109/ROBOT.2007.363612
DO - 10.1109/ROBOT.2007.363612
M3 - Conference contribution
AN - SCOPUS:36349020259
SN - 1424406021
SN - 9781424406029
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1980
EP - 1985
BT - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
ER -