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Exact robot navigation using artificial potential functions
Abstract
A methodology for exact robot motion planning and control that unifies the purely kinematic path planning problem with the lower level feedback controller design is presented. Complete information about a freespace and goal is encoded in the form of a special artificial potential function, called a navigation function, that connects the kinematic planning problem with the dynamic execution problem in a provably correct fashion. The navigation function automatically gives rise to a bounded-torque feedback controller for the robot's actuators that guarantees collision-free motion and convergence to the destination from almost all initial free configurations. A formula for navigation functions that guide a point-mass robot in a generalized sphere world is developed. The simplest member of this family is a space obtained by puncturing a disk by an arbitrary number of smaller disjoint disks representing obstacles. The other spaces are obtained from this model by a suitable coordinate transformation. Simulation results for planar scenarios are provided.>
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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
Cited by
Probabilistic roadmaps for path planning in high-dimensional configuration spaces
Kavraki, L. E., Svestka, P., Latombe, J.-C., & Overmars, M. H. (1996) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.508439 · Cited by 6,343
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
Sequential Composition of Dynamically Dexterous Robot Behaviors
Burridge, R. R., Rizzi, A. A., & Koditschek, D. E. (1999) · The International Journal of Robotics Research · doi:10.1177/02783649922066385 · Cited by 446
Self-citationDriving safety field theory modeling and its application in pre-collision warning system
Wang, J., Wu, J., Zheng, X., Ni, D., & Li, K. (2016) · Transportation Research Part C: Emerging Technologies · doi:10.1016/j.trc.2016.10.003 · Cited by 367
Survey of Robot 3D Path Planning Algorithms
Yang, L., Qi, J., Song, D., Xiao, J., Han, J., & Xia, Y. (2016) · Journal of Control Science and Engineering · doi:10.1155/2016/7426913 · Cited by 328
Metadata
- Authors
- Rimon, E., & Koditschek, D. E.
- Venue
- IEEE Transactions on Robotics and Automation
- Published
- 1992
- Volume
- 8
- Issue
- 5
- Pages
- 501-518
- ISSN
- 1042-296X (ISSN-L)
- OpenAlex
- W2110144538
- Cited by
- 1,835
- References
- 1
- FWCI
- 9.08
- Type
- journal article
- Language
- en
- Open access
- closed
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- Rimon, E., & Koditschek, D. E. (1992). Exact robot navigation using artificial potential functions. IEEE Transactions on Robotics and Automation. https://doi.org/10.1109/70.163777
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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