Dynamic Trajectory Generation for Spatially Constrained Mechanical Systems Using Harmonic Potential Fields
The harmonic potential field (HPF) approach to motion planning is shown to provide an efficient and provably-correct basis for building intelligent, context-sensitive, and goal-oriented controllers. In the paper by the author (2006) a novel type of dampening forces called: nonlinear, anisotropic, da...
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| Format: | article |
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2007
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| Online Access: | https://eprints.kfupm.edu.sa/id/eprint/14709/1/14709_1.pdf https://eprints.kfupm.edu.sa/id/eprint/14709/2/14709_2.doc |
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| _version_ | 1864513384490205184 |
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| author | Masoud, A.A. |
| author2 | unknown |
| author2_role | author |
| author_facet | Masoud, A.A. unknown |
| author_role | author |
| dc.creator.none.fl_str_mv | Masoud, A.A. unknown |
| dc.date.none.fl_str_mv | 2007-04 2020 |
| dc.format.none.fl_str_mv | application/pdf application/msword |
| dc.identifier.none.fl_str_mv | https://eprints.kfupm.edu.sa/id/eprint/14709/1/14709_1.pdf https://eprints.kfupm.edu.sa/id/eprint/14709/2/14709_2.doc (2007) Dynamic Trajectory Generation for Spatially Constrained Mechanical Systems Using Harmonic Potential Fields. Robotics and Automation, 2007 IEEE International conference, 1. |
| dc.language.none.fl_str_mv | en en |
| dc.publisher.none.fl_str_mv | IEEE |
| dc.relation.none.fl_str_mv | https://eprints.kfupm.edu.sa/id/eprint/14709/ |
| dc.rights.*.fl_str_mv | info:eu-repo/semantics/openAccess |
| dc.subject.none.fl_str_mv | Computer |
| dc.title.none.fl_str_mv | Dynamic Trajectory Generation for Spatially Constrained Mechanical Systems Using Harmonic Potential Fields |
| dc.type.none.fl_str_mv | Article PeerReviewed info:eu-repo/semantics/publishedVersion info:eu-repo/semantics/article |
| description | The harmonic potential field (HPF) approach to motion planning is shown to provide an efficient and provably-correct basis for building intelligent, context-sensitive, and goal-oriented controllers. In the paper by the author (2006) a novel type of dampening forces called: nonlinear, anisotropic, dampening forces (NADFs) are used to convert the guidance signal from an HPF into a navigation control signal with verifiable capabilities. This work provides two extensions of the NADF approach. The first is a blind, iterative procedure that can totally cancel the steady state error. The other extension is concerned with the nonholonomic case. Theoretical developments and simulation results are provided. |
| eu_rights_str_mv | openAccess |
| format | article |
| id | KFUPM_80e4cc8136a661c5cc125358acfab354 |
| identifier_str_mv | (2007) Dynamic Trajectory Generation for Spatially Constrained Mechanical Systems Using Harmonic Potential Fields. Robotics and Automation, 2007 IEEE International conference, 1. |
| language_invalid_str_mv | en |
| network_acronym_str | KFUPM |
| network_name_str | King Fahd University of Petroleum and Minerals |
| oai_identifier_str | oai::14709 |
| publishDate | 2007 |
| publisher.none.fl_str_mv | IEEE |
| repository.mail.fl_str_mv | |
| repository.name.fl_str_mv | |
| repository_id_str | |
| spelling | Dynamic Trajectory Generation for Spatially Constrained Mechanical Systems Using Harmonic Potential FieldsMasoud, A.A.unknownComputerThe harmonic potential field (HPF) approach to motion planning is shown to provide an efficient and provably-correct basis for building intelligent, context-sensitive, and goal-oriented controllers. In the paper by the author (2006) a novel type of dampening forces called: nonlinear, anisotropic, dampening forces (NADFs) are used to convert the guidance signal from an HPF into a navigation control signal with verifiable capabilities. This work provides two extensions of the NADF approach. The first is a blind, iterative procedure that can totally cancel the steady state error. The other extension is concerned with the nonholonomic case. Theoretical developments and simulation results are provided.IEEE2007-042020ArticlePeerReviewedinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfapplication/mswordhttps://eprints.kfupm.edu.sa/id/eprint/14709/1/14709_1.pdfhttps://eprints.kfupm.edu.sa/id/eprint/14709/2/14709_2.doc (2007) Dynamic Trajectory Generation for Spatially Constrained Mechanical Systems Using Harmonic Potential Fields. Robotics and Automation, 2007 IEEE International conference, 1. enenhttps://eprints.kfupm.edu.sa/id/eprint/14709/info:eu-repo/semantics/openAccessoai::147092019-11-01T14:07:03Z |
| spellingShingle | Dynamic Trajectory Generation for Spatially Constrained Mechanical Systems Using Harmonic Potential Fields Masoud, A.A. Computer |
| status_str | publishedVersion |
| title | Dynamic Trajectory Generation for Spatially Constrained Mechanical Systems Using Harmonic Potential Fields |
| title_full | Dynamic Trajectory Generation for Spatially Constrained Mechanical Systems Using Harmonic Potential Fields |
| title_fullStr | Dynamic Trajectory Generation for Spatially Constrained Mechanical Systems Using Harmonic Potential Fields |
| title_full_unstemmed | Dynamic Trajectory Generation for Spatially Constrained Mechanical Systems Using Harmonic Potential Fields |
| title_short | Dynamic Trajectory Generation for Spatially Constrained Mechanical Systems Using Harmonic Potential Fields |
| title_sort | Dynamic Trajectory Generation for Spatially Constrained Mechanical Systems Using Harmonic Potential Fields |
| topic | Computer |
| url | https://eprints.kfupm.edu.sa/id/eprint/14709/1/14709_1.pdf https://eprints.kfupm.edu.sa/id/eprint/14709/2/14709_2.doc |