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Exact Robot Navigation Using Cost Functions: The Case of Distinct Spherical Boundaries in En

Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on

E. Rimon* and D. E. Koditschek†
*Yale Department of Electrical Engineering
†University of Pennsylvania

Full PDF | Penn Scholarly Commons

Abstract
The utility of artificial potential functions is explored as a means of translating automatically a robot task description into a feedback control law to drive the robot actuators. A class of functions is sought which will guide a point robot amid any finite number of spherically bounded obstacles in Euclidean n-space toward an arbitrary destination point. By introducing a set of additional constraints, the subclass of navigation functions is defined. This class is dynamically sound in the sense that the actual mechanical system will inherit the essential aspects of the qualitative behavior of the gradient lines of the cost function. An existence proof is given by constructing a one parameter family of such functions; the parameter is used to guarantee the absence of local minima
BibTeX entry
@INPROCEEDINGS{12325, 
author={Rimon, E. and Koditschek, D.E.}, 
booktitle={Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on}, 
title={Exact robot navigation using cost functions: the case of distinct spherical boundaries in En}, 
year={1988}, 
month={apr}, 
volume={}, 
number={}, 
pages={1791 -1796 vol.3}, 
keywords={Euclidean n-space;actuators;cost functions;existence proof;feedback control
law;position control;robot navigation;robot task description;spherically bounded obstacles;
feedback;navigation;position control;robots;}, 
doi={10.1109/ROBOT.1988.12325}, 
ISSN={},}
}

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