NASA Logo

NTRS

NTRS - NASA Technical Reports Server

Back to Results
Real-time obstacle avoidance using harmonic potential functionsThis paper presents a new formulation of the artificial potential approach to the obstacle avoidance problem for a mobile robot or a manipulator in a known environment. 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 local minima even for a cluttered environment are used. The panel method is employed to represent arbitrarily shaped obstacles and to derive the potential over the whole space. Based on this potential function, an elegant control strategy is proposed for the real-time control of a robot. The harmonic potential, the panel method, and the control strategy are tested with a bar-shaped mobile robot and a three-degree-of-freedom planar redundant manipulator.
Document ID
19920068515
Acquisition Source
Legacy CDMS
Document Type
Reprint (Version printed in journal)
External Source(s)
Authors
Kim, Jin-Oh
(NASA Langley Research Center Hampton, VA, United States)
Khosla, Pradeep K.
(Carnegie Mellon University Pittsburgh, PA, United States)
Date Acquired
August 15, 2013
Publication Date
June 1, 1992
Publication Information
Publication: IEEE Transactions on Robotics and Automation
Volume: 8
Issue: 3 Ju
ISSN: 1042-296X
Subject Category
Cybernetics
Accession Number
92A51139
Funding Number(s)
CONTRACT_GRANT: NAG1-1075
CONTRACT_GRANT: DE-FG02-89ER-14042
Distribution Limits
Public
Copyright
Other

Available Downloads

There are no available downloads for this record.
No Preview Available