Managing the dynamics of a harmonic potential field-guided robot in a cluttered environment

Ahmad A. Masoud

doi:10.1109/TIE.2008.2002720

Managing the dynamics of a harmonic potential field-guided robot in a cluttered environment

Ahmad A. Masoud^*

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

41 Scopus citations

Abstract

This paper demonstrates the ability of the harmonic potential field (HPF) planning method to generate a well-behaved constrained path for a robot with second order dynamics in a cluttered environment. It is shown that HPF-based controllers may be developed for holonomic, as well as nonholonomic, robots to effectively suppress the effect of inertial forces on the robot's trajectory while maintaining all the attractive features of a purely kinematic HPF planner. The capabilities of the suggested navigation controller are demonstrated using simulation results for the holonomic and nonholonomic cases.

Original language	English
Pages (from-to)	488-496
Number of pages	9
Journal	IEEE Transactions on Industrial Electronics
Volume	56
Issue number	2
DOIs	https://doi.org/10.1109/TIE.2008.2002720
State	Published - 2009

Bibliographical note

Funding Information:
Manuscript received September 12, 2006; revised July 7, 2008. First published August 19, 2008; current version published January 30, 2009. This work was supported by King Fahd University of Petroleum and Minerals. The author is with the Electrical Engineering Department, King Fahd University of Petroleum and Minerals, Dhahran 31261, Saudi Arabia (e-mail: [email protected]). Digital Object Identifier 10.1109/TIE.2008.2002720

Keywords

Intelligent control
Nonholonomic robots
Trajectory generation

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/TIE.2008.2002720

Cite this

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abstract = "This paper demonstrates the ability of the harmonic potential field (HPF) planning method to generate a well-behaved constrained path for a robot with second order dynamics in a cluttered environment. It is shown that HPF-based controllers may be developed for holonomic, as well as nonholonomic, robots to effectively suppress the effect of inertial forces on the robot's trajectory while maintaining all the attractive features of a purely kinematic HPF planner. The capabilities of the suggested navigation controller are demonstrated using simulation results for the holonomic and nonholonomic cases.",

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AB - This paper demonstrates the ability of the harmonic potential field (HPF) planning method to generate a well-behaved constrained path for a robot with second order dynamics in a cluttered environment. It is shown that HPF-based controllers may be developed for holonomic, as well as nonholonomic, robots to effectively suppress the effect of inertial forces on the robot's trajectory while maintaining all the attractive features of a purely kinematic HPF planner. The capabilities of the suggested navigation controller are demonstrated using simulation results for the holonomic and nonholonomic cases.

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KW - Trajectory generation

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ER -

Managing the dynamics of a harmonic potential field-guided robot in a cluttered environment

Abstract

Bibliographical note

Keywords

ASJC Scopus subject areas

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