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Cited by 559

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

Kim, J.-O., Khosla, P.·2002·Proceedings. 1991 IEEE International Conference on Robotics and Automation
DOI 10.1109/robot.1991.131683
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Abstract

A 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, harmonic functions that completely eliminate the local minima even for a cluttered environment were used. The panel method was used to represent arbitrarily shaped obstacles and to derive the potential function over the whole space. Based on this potential function and elegant control strategy for the real-time control of a robot is proposed.>

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Metadata

Authors
Kim, J.-O., & Khosla, P.
Venue
Proceedings. 1991 IEEE International Conference on Robotics and Automation
Publisher
IEEE Comput. Soc. Press
Published
2002-12-10
Pages
790-796
ISSN
1050-4729 (ISSN-L)
DOI
10.1109/robot.1991.131683
OpenAlex
W2154722715
Cited by
559
References
2
FWCI
25.14
Type
conference paper
Language
en
Open access
closed

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CoChat. (2026). Citation check: Real-time obstacle avoidance using harmonic potential functions. https://app.cochat.ai/papers/10.1109/robot.1991.131683
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Kim, J.-O., & Khosla, P. (2002). Real-time obstacle avoidance using harmonic potential functions. Proceedings. 1991 IEEE International Conference on Robotics and Automation. https://doi.org/10.1109/robot.1991.131683

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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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