Referenced Items are not available for this document.
This article extends the capabilities of the harmonic potential field (HPF) 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 damping forces called nonlinear, anisotropic, damping forces (NADF). The HPF (harmonic potential field) approach to planning is emerging as a powerful paradigm for the guidance of autonomous agents.
Published in:
Robotics & Automation Magazine, IEEE
(Volume:17
,
Issue:
1
)
Date of Publication: March 2010
- Page(s):
- 85 - 99
- ISSN :
- 1070-9932
- INSPEC Accession Number:
- 11177388
- Digital Object Identifier :
- 10.1109/MRA.2010.935794
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 15 March 2010
- Issue Date :
- March 2010
- Sponsored by :
- IEEE Robotics and Automation Society
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