Managing the Dynamics of a Harmonic Potential Field-Guided Robot in a Cluttered Environment

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.

• Publication year

  2016

• Venue

  IEEE transactions on industrial electronics (1982. Print)

• Publication date

  2016-08-21

• Fields of study

  Computer Science, Engineering

• Identifiers
  DOI 10.1109/TIE.2008.2002720arXiv 1608.05923
• External record

  Open on Semantic Scholar

• Source metadata

  Semantic Scholar

• No claims are published for this paper.

• No concepts are published for this paper.

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