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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.

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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.