Title :
Motion planning in the presence of directional and obstacle avoidance constraints using nonlinear, anisotropic, harmonic potential fields
Author :
Masoud, Ahmad A. ; Masoud, Samer A.
Author_Institution :
Dept. of Mech. Eng., Jordan Univ. of Sci. & Technol., Irbid, Jordan
Abstract :
The authors (1998) suggested a new class of intelligent motion controllers, called evolutionary, hybrid PDE-ODE controllers (EHPCs). A controller of such a class is designed for the special task of guiding an agent in a fully unknown environment to a target set along an obstacle-free trajectory. The authors briefly described an extension that would allow an EHPC to jointly condition a motion trajectory with both directional and region avoidance constraints. In this paper, an in-depth investigation of the proposed extension is provided. Also, mathematical proofs of both convergence, and the ability to enforce directional and region avoidance constraints are supplied
Keywords :
convergence; intelligent control; motion control; partial differential equations; path planning; convergence; evolutionary hybrid PDE-ODE controllers; harmonic potential fields; intelligent control; motion control; motion planning; obstacle avoidance; Actuators; Anisotropic magnetoresistance; Intelligent control; Intelligent robots; Mechanical engineering; Motion control; Motion planning; Neural networks; Technology planning; Trajectory;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.846475