A Harmonic Potential Field Approach for Navigating a Rigid, Nonholonomic Robot in a Cluttered Environment

被引：0

作者：

Masoud, Ahmad A. ^{[1
]}

机构：

[1] KFUPM, Dept Elect Engn, Dhahran 31261, Saudi Arabia

来源：

ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7 | 2009年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper demonstrates the ability of the harmonic potential field (HPF) planning approach to generate a provably-correct, constrained, well-behaved trajectory for a rigid, nonholonomic robot (a tractor-trailer robot is not rigid) in a stationary, cluttered environment. This is accomplished using a closed loop control scheme that is inspired by model predictive control (MPC). The scheme is realized using a synchronizing signal derived from the HPF along with a procedure for inverting the process the robot is using for actuating motion. Performance proofs as well as simulation results of the suggested planner are supplied.

引用

页码：7 / 13

页数：7

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