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This paper proposes a new trajectory generation method that allows full control of transient behavior, namely, time-to-target and velocity profile, based on the artificial potential field approach for a real-time robot motion planning problem. Little attention, in fact, has been paid to the temporal aspects of this class of path planning methods. The ability to control the motion time to the target as well as the velocity profile of the generated trajectories, however, is of great interest in real-life applications. In the paper, we argue that such transient behavior should be taken into account within the framework of the artificial potential field approach.