Managing the Dynamics of a Harmonic Potential Field-Guided Robot in a Cluttered Environment
Masoud, A.A.
Electr. Eng. Dept., King Fahd Univ. of Pet. & Miner., Dhahran;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Feb. 2009
Volume: 56,
Issue: 2
On page(s): 488-496
ISSN: 0278-0046
INSPEC Accession Number: 10429187
Digital Object Identifier: 10.1109/TIE.2008.2002720
First Published: 2008-08-19
Current Version Published: 2009-02-02
Abstract
This paper demonstrates the ability of the harmonic potential field (HPF) planning method to generate a well-behaved constrained path for a robot with second order dynamics in a cluttered environment. It is shown that HPF-based controllers may be developed for holonomic, as well as nonholonomic, robots to effectively suppress the effect of inertial forces on the robot's trajectory while maintaining all the attractive features of a purely kinematic HPF planner. The capabilities of the suggested navigation controller are demonstrated using simulation results for the holonomic and nonholonomic cases.
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