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Kinodynamic Motion Planning

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1 Author(s)
Masoud, A.A. ; Electr. Eng. Dept., KFUPM, Dhaharan, Saudi Arabia

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 )