The DOI matches its Crossref record; 2 of the 2 references it cites were found in a registry or an index.
Superquadric artificial potentials for obstacle avoidance and approach
Abstract
An obstacle-avoidance potential based on superquadrics is discussed. The superquadric formulation is a generalization of the elliptical potential function method and therefore is viable for a much larger class of object shapes. As with elliptical potentials, a modified form of the superquadric potential provides safe approach objects. The avoidance and approach potentials are implemented in simulations and the results exhibit an improvement over existing potential schemes. The simulations also use an algorithm that eliminates collisions with obstacles by calculating the repulsive forces exerted on links, based on the shortest distance to an object.>
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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
Metadata
- Authors
- Khosla, P., & Volpe, R.
- Venue
- Proceedings. 1988 IEEE International Conference on Robotics and Automation
- Publisher
- IEEE Comput. Soc. Press
- Published
- 2003-01-06
- Pages
- 1778-1784
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2160728037
- Cited by
- 237
- References
- 2
- FWCI
- 10.12
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Khosla, P., & Volpe, R. (2003). Superquadric artificial potentials for obstacle avoidance and approach. Proceedings. 1988 IEEE International Conference on Robotics and Automation. https://doi.org/10.1109/robot.1988.12323
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