Real-time obstacle avoidance using harmonic potential functions
Real-time obstacle avoidance using harmonic potential functions
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DOI：
10.1109/robot.1991.131683
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发表时间：
1991-04
期刊：
影响因子：
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通讯作者：
Jin-Oh Kim;P. Khosla
中科院分区：
文献类型：
--
作者：
Jin-Oh Kim;P. Khosla
提出了一种求解移动的机器人或机械手在已知环境中避障问题的人工势函数方法。以前的配方人工潜力，避障，表现出局部最小值在一个混乱的环境。为了构建人工势场，使用了即使对于杂乱环境也完全消除局部最小值的谐波函数。采用面元法表示任意形状的障碍物，并推导出整个空间的势函数。基于此势函数和优雅的控制策略的机器人的实时控制。
A formulation of the artificial potential approach to the obstacle avoidance problem for a mobile robot or a manipulator in a known environment is presented. 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 the local minima even for a cluttered environment were used. The panel method was used to represent arbitrarily shaped obstacles and to derive the potential function over the whole space. Based on this potential function and elegant control strategy for the real-time control of a robot is proposed.>