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

Ahmad A. Masoud*

*Corresponding author for this work

Research output: Contribution to conferencePaperpeer-review

1 Scopus citations

Abstract

This paper extends the capabilities of the harmonic potential field approach to planning to cover both the kinematic and dynamic aspects of a robot's motion. The suggested approach converts the gradient guidance field from a harmonic potential to a control signal by augmenting it with a novel type of dampening forces suggested in this paper called: nonlinear, anisotropic, dampening forces (NADFs). The combination of the two provides a signal that can both guide a robot and effectively manage its dynamics. The kinodynamic planning signal inherits, fully, the guidance capabilities of the harmonic gradient field. It can also be easily configured to efficiently suppress the inertia-induced transients in the robot's trajectory without compromising the speed of operation. Theoretical results and simulation are provided in the paper.

Original languageEnglish
Pages272-277
Number of pages6
DOIs
StatePublished - 2006

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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