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Robot motion planning using hyperboloid potential functions

Badawy, Ahmed and McInnes, Colin (2007) Robot motion planning using hyperboloid potential functions. In: World Congress on Engineering 2007, 2007-07-02 - 2007-07-04, London, UK.

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    Abstract

    A new approach to robot path planning using hyperboloid potential functions is presented in this paper. Unlike parabolic potential functions, where the control force increases with distance from the goal and is unbound, and conic potential functions where a singularity occurs at the goal, hyperboloid potential functions avoid both these drawbacks. However, they do combine the advantages of both parabolic and conic potentials as the asymptotic property of the hyperbolic function ensures bounded control forces, while stability and smooth contact are guaranteed at the goal point.

    Item type: Conference or Workshop Item (Paper)
    ID code: 3849
    Keywords: obstacle avoidance, potential functions, robot motion planning, Mechanical engineering and machinery, Motor vehicles. Aeronautics. Astronautics
    Subjects: Technology > Mechanical engineering and machinery
    Technology > Motor vehicles. Aeronautics. Astronautics
    Department: Faculty of Engineering > Mechanical and Aerospace Engineering
    Related URLs:
    Depositing user: Users 207 not found.
    Date Deposited: 11 Jul 2007
    Last modified: 06 Oct 2012 07:26
    URI: http://strathprints.strath.ac.uk/id/eprint/3849

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