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 prese...Show MoreMetadata
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.<>
Published in: IEEE Transactions on Robotics and Automation ( Volume: 8, Issue: 5, October 1992)
DOI: 10.1109/70.163777
Center for Systems Science, Department of Electrical Engineering, Yale University, New Heaven, CT, USA
Computer Science Department, University of Stanford, Palo Alto, CA, USA
Center for Systems Science, Department of Electrical Engineering, Yale University, New Heaven, CT, USA
Center for Systems Science, Department of Electrical Engineering, Yale University, New Heaven, CT, USA
Computer Science Department, University of Stanford, Palo Alto, CA, USA
Center for Systems Science, Department of Electrical Engineering, Yale University, New Heaven, CT, USA
