The DOI matches its Crossref record; 2 of the 2 references it cites were found in a registry or an index.
Real-time obstacle avoidance using harmonic potential functions
Abstract
A novel formulation of the artificial potential approach to the obstacle avoidance problem for a mobile robot or a manipulator in a known environment is presented. Previous formulations of artificial potentials for obstacle avoidance have exhibited local minima in a cluttered environment. To build an artificial potential field, the authors use harmonic functions that completely eliminate local minima even for a cluttered environment. The panel method is used to represent arbitrarily shaped obstacles and to derive the potential over the whole space. Based on this potential function, an elegant control strategy for the real-time control of a robot is proposed. Simulation results are presented for a bar-shaped mobile robot and a three-degree-of-freedom planar redundant manipulator.>
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Citations
Cites
Real-Time Obstacle Avoidance for Manipulators and Mobile Robots
Khatib, O. (1986) · The International Journal of Robotics Research · doi:10.1177/027836498600500106 · Cited by 7,894
Impedance Control: An Approach to Manipulation: Part I—Theory
Hogan, N. (1985) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3140702 · Cited by 3,673
Cited by
Dynamic Motion Planning for Mobile Robots Using Potential Field Method
Ge, S. S., & Cui, Y. J. (2002) · Autonomous Robots · doi:10.1023/a:1020564024509 · Cited by 803
Nonsmooth Barrier Functions With Applications to Multi-Robot Systems
Glotfelter, P., Cortes, J., & Egerstedt, M. (2017) · IEEE Control Systems Letters · doi:10.1109/lcsys.2017.2710943 · Cited by 312
A dynamical system approach to realtime obstacle avoidance
Khansari-Zadeh, S. M., & Billard, A. (2012) · Autonomous Robots · doi:10.1007/s10514-012-9287-y · Cited by 264
Metadata
- Authors
- Kim, J.-O., & Khosla, P. K.
- Venue
- IEEE Transactions on Robotics and Automation
- Published
- 1992-06
- Volume
- 8
- Issue
- 3
- Pages
- 338-349
- ISSN
- 1042-296X (ISSN-L)
- OpenAlex
- W4247582681
- Cited by
- 522
- References
- 2
- FWCI
- 2.27
- Type
- journal article
- Language
- en
- Open access
- closed
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- Kim, J.-O., & Khosla, P. K. (1992). Real-time obstacle avoidance using harmonic potential functions. IEEE Transactions on Robotics and Automation. https://doi.org/10.1109/70.143352
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
