By Topic

Exact robot navigation using artificial potential functions

Sign In

Full text access may be available.

To access full text, please use your member or institutional sign in.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Rimon, E. ; Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA ; Koditschek, D.E.

A methodology for exact robot motion planning and control that unifies the purely kinematic path planning problem with the lower level feedback controller design is presented. Complete information about a freespace and goal is encoded in the form of a special artificial potential function, called a navigation function, that connects the kinematic planning problem with the dynamic execution problem in a provably correct fashion. The navigation function automatically gives rise to a bounded-torque feedback controller for the robot's actuators that guarantees collision-free motion and convergence to the destination from almost all initial free configurations. A formula for navigation functions that guide a point-mass robot in a generalized sphere world is developed. The simplest member of this family is a space obtained by puncturing a disk by an arbitrary number of smaller disjoint disks representing obstacles. The other spaces are obtained from this model by a suitable coordinate transformation. Simulation results for planar scenarios are provided

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:8 ,  Issue: 5 )