• DocumentCode
    2542504
  • Title

    Exact robot navigation by means of potential functions: Some topological considerations

  • Author

    Koditschek, Daniel E.

  • Author_Institution
    Yale University, New Haven, CT, USA
  • Volume
    4
  • fYear
    1987
  • fDate
    31837
  • Firstpage
    1
  • Lastpage
    6
  • Abstract
    The limits in global navigation capability of potential function based robot control algorithms are explored. Elementary tools of algebraic and differential topology are used to advance arguments suggesting the existence of potential functions over a bounded planar region with arbitrary fixed obstacles possessed of a unique local minimum. A class of such potential functions is constructed for certain cases of a planar disk region with an arbitrary number of smaller disks removed.
  • Keywords
    Algorithm design and analysis; Computational efficiency; Feedback; Mathematics; Motion planning; Navigation; Orbital robotics; Robot control; Shape; Topology;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Automation. Proceedings. 1987 IEEE International Conference on
  • Type

    conf

  • DOI
    10.1109/ROBOT.1987.1088038
  • Filename
    1088038
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2542504