By Topic

Kinodynamic Motion Planning

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

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 )