Solving the narrow corridor problem in potential field-guided autonomous robots

Ahmad A. Masoud

doi:10.1109/ROBOT.2005.1570555

Solving the narrow corridor problem in potential field-guided autonomous robots

Ahmad A. Masoud^*

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

18 Scopus citations

Abstract

This paper tackles the issue of converting the guidance signal from the gradient of a potential field into a control signal that can both guide an autonomous robot and effectively manage its dynamics. Particular emphasis is placed on dealing with the "narrow corridor" artifact reported by Koren and Borenstien [1] which the attractor-repeller potential field paradigm proposed by Khatib [2] suffers from. The suggested solution is based on a novel concept this paper introduces called: nonlinear, anisotropic, dampening forces. In addition to eliminating the narrow corridor artifact, improving the quality of the trajectory, the suggested solution significantly increases the speed of the robot. Theoretical development along with simulation results are provided.

Original language	English
Title of host publication	Proceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages	2909-2914
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2005.1570555
State	Published - 2005

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2005
ISSN (Print)	1050-4729

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ROBOT.2005.1570555

Cite this

@inproceedings{675ffa2914ab4aff981e559c707e1761,

title = "Solving the narrow corridor problem in potential field-guided autonomous robots",

abstract = "This paper tackles the issue of converting the guidance signal from the gradient of a potential field into a control signal that can both guide an autonomous robot and effectively manage its dynamics. Particular emphasis is placed on dealing with the {"}narrow corridor{"} artifact reported by Koren and Borenstien [1] which the attractor-repeller potential field paradigm proposed by Khatib [2] suffers from. The suggested solution is based on a novel concept this paper introduces called: nonlinear, anisotropic, dampening forces. In addition to eliminating the narrow corridor artifact, improving the quality of the trajectory, the suggested solution significantly increases the speed of the robot. Theoretical development along with simulation results are provided.",

author = "Masoud, {Ahmad A.}",

year = "2005",

doi = "10.1109/ROBOT.2005.1570555",

language = "English",

isbn = "078038914X",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

pages = "2909--2914",

booktitle = "Proceedings of the 2005 IEEE International Conference on Robotics and Automation",

}

Solving the narrow corridor problem in potential field-guided autonomous robots. / Masoud, Ahmad A.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation. 2005. p. 2909-2914 1570555 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Solving the narrow corridor problem in potential field-guided autonomous robots

AU - Masoud, Ahmad A.

PY - 2005

Y1 - 2005

N2 - This paper tackles the issue of converting the guidance signal from the gradient of a potential field into a control signal that can both guide an autonomous robot and effectively manage its dynamics. Particular emphasis is placed on dealing with the "narrow corridor" artifact reported by Koren and Borenstien [1] which the attractor-repeller potential field paradigm proposed by Khatib [2] suffers from. The suggested solution is based on a novel concept this paper introduces called: nonlinear, anisotropic, dampening forces. In addition to eliminating the narrow corridor artifact, improving the quality of the trajectory, the suggested solution significantly increases the speed of the robot. Theoretical development along with simulation results are provided.

AB - This paper tackles the issue of converting the guidance signal from the gradient of a potential field into a control signal that can both guide an autonomous robot and effectively manage its dynamics. Particular emphasis is placed on dealing with the "narrow corridor" artifact reported by Koren and Borenstien [1] which the attractor-repeller potential field paradigm proposed by Khatib [2] suffers from. The suggested solution is based on a novel concept this paper introduces called: nonlinear, anisotropic, dampening forces. In addition to eliminating the narrow corridor artifact, improving the quality of the trajectory, the suggested solution significantly increases the speed of the robot. Theoretical development along with simulation results are provided.

UR - http://www.scopus.com/inward/record.url?scp=33846159835&partnerID=8YFLogxK

U2 - 10.1109/ROBOT.2005.1570555

DO - 10.1109/ROBOT.2005.1570555

M3 - Conference contribution

AN - SCOPUS:33846159835

SN - 078038914X

SN - 9780780389144

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 2909

EP - 2914

BT - Proceedings of the 2005 IEEE International Conference on Robotics and Automation

ER -

Solving the narrow corridor problem in potential field-guided autonomous robots

Abstract

Publication series

ASJC Scopus subject areas

Access to Document

Fingerprint

Cite this