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ID 14661
file
Thumnail J_058.pdf 538 KB
title alternative
Trajectory generation of moving robots using after deformation of artificial potential fields
creator
Chigusa, Kazuyuki
Kaneko, Makoto
subject
mechatronics and robotics
moving robot
computer control
trajectory generation
artificial potential field
NDC
Mechanical engineering
description
A trajectory generation method based on an artificial potential field approach may be useful for real-time motion planning of a moving robot, since it is effective and computationally much less expensive than other methods using global information on a task space. In the present paper, we argue that dynamic behavior of a generated trajectory and control of the direction of motion of the moving robot shold be taken into accout within the framework of the artificial potential field approach for practical use, and propose a new method using active deformation of the artificial potential field. The method can regulate movement time from an initial position to a goal, and velocity profile of the trajectory as well as the position and the direction of motion of the robot by changing the orientation and the shape of the artificial potential ellipse.
journal title
日本機械学会論文集(C編)
volume
Volume 62
issue
Issue 597
start page
1905
end page
1911
date of issued
1996-05
publisher
日本機械学会
issn
0387-5024
language
jpn
nii type
Journal Article
HU type
Journal Articles
DCMI type
text
format
application/pdf
text version
publisher
rights
Copyright (c) 1996 日本機械学会
department
Graduate School of Engineering