Robot motion planning using hyperboloid potential functions

A. Badawy, C.R. McInnes

Research output: Contribution to conferencePaper

Abstract

A new approach to robot path planning using hyperboloid potential functions is presented in this paper. Unlike parabolic potential functions, where the control force increases with distance from the goal and is unbound, and conic potential functions where a singularity occurs at the goal, hyperboloid potential functions avoid both these drawbacks. However, they do combine the advantages of both parabolic and conic potentials as the asymptotic property of the hyperbolic function ensures bounded control forces, while stability and smooth contact are guaranteed at the goal point.
LanguageEnglish
Number of pages5
Publication statusPublished - 4 Jul 2007
EventWorld Congress on Engineering 2007 - London, UK
Duration: 2 Jul 20074 Jul 2007

Conference

ConferenceWorld Congress on Engineering 2007
CityLondon, UK
Period2/07/074/07/07

Fingerprint

Motion planning
Robots
Force control
Hyperbolic functions

Keywords

  • obstacle avoidance
  • potential functions
  • robot motion planning

Cite this

Badawy, A., & McInnes, C. R. (2007). Robot motion planning using hyperboloid potential functions. Paper presented at World Congress on Engineering 2007, London, UK, .
Badawy, A. ; McInnes, C.R. / Robot motion planning using hyperboloid potential functions. Paper presented at World Congress on Engineering 2007, London, UK, .5 p.
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Badawy, A & McInnes, CR 2007, 'Robot motion planning using hyperboloid potential functions' Paper presented at World Congress on Engineering 2007, London, UK, 2/07/07 - 4/07/07, .

Robot motion planning using hyperboloid potential functions. / Badawy, A.; McInnes, C.R.

2007. Paper presented at World Congress on Engineering 2007, London, UK, .

Research output: Contribution to conferencePaper

TY - CONF

T1 - Robot motion planning using hyperboloid potential functions

AU - Badawy, A.

AU - McInnes, C.R.

PY - 2007/7/4

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AB - A new approach to robot path planning using hyperboloid potential functions is presented in this paper. Unlike parabolic potential functions, where the control force increases with distance from the goal and is unbound, and conic potential functions where a singularity occurs at the goal, hyperboloid potential functions avoid both these drawbacks. However, they do combine the advantages of both parabolic and conic potentials as the asymptotic property of the hyperbolic function ensures bounded control forces, while stability and smooth contact are guaranteed at the goal point.

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KW - potential functions

KW - robot motion planning

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M3 - Paper

ER -

Badawy A, McInnes CR. Robot motion planning using hyperboloid potential functions. 2007. Paper presented at World Congress on Engineering 2007, London, UK, .