Departmental Papers (ESE)

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.

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version

April 1988

Comments

Copyright 1988 IEEE. Reprinted from Proceedings of the IEEE International Conference on Robotics and Automation, Volume 3, 1988, pages 1791-1796.

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NOTE: At the time of publication, author Daniel Koditschek was affiliated with Yale University. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.

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Date Posted: 06 June 2008

This document has been peer reviewed.