Citation Context

...obal path-planning method is then employed for off-line calculations of subsequent robot paths.s2.3 Potential Field Methods The idea of imaginary forces acting on a robot has been suggested by Khatib =-=[16]-=-. In this method, obstacles exert repulsive forces, while the target applies an attractive force to the robot. A resultant force vector R, comprising the sum of a target-directed attractive force and ...

Citation Context

...networks and suggests analytical exploration of complex networks with dynamic topologies; Olfati-Saber & Murray [32] used potential functions induced by rigid graphs for formation control; and Khatib =-=[18]-=- and Rimon & Koditschek [44] used artificial potentials for obstacle avoidance. A number of recent papers on flocking/swarming, [17, 50, 11], make a set of assumptions that lead to algorithms with som...

Citation Context

... leading the search to dead-ends from which it is difficult to escape. For example, a widely used heuristics consists of guiding the robot along the negated gradient of an artificial potential field (=-=Khatib 1986-=-). However, this technique may get stuck at local minima of the potential and provides no systematic way to escape these minima. The problem of defining an analytic &dquo;navigation function&dquo; (i....

Citation Context

...fort required to plan the trajectories of robots to avoid both fixed and moving obstacles [8, 25, 19]. Other approaches include the use of potential functions for navigating in cluttered environments =-=[22, 21]-=- and compliant motion planning for navigating in the presence of uncertainty [10, 11, 34]. Our interests in motion planning are not along the lines of the aforementioned approaches, but are complement...

Citation Context

... the active behaviors (motor schemas) computes its reaction to its perceptual stimuli using a method analogous to potential fields [3]. It must be noted that unlike traditional potential fields [33], =-=[32]-=-, the entire field is never computed, only the robot's reaction to its current perception of the world at its present location. All of these independent computations are summed and normalized and then...

Citation Context

...tics for Maintenance, Emergency, and Life support). II. The Virtual Force Field (VFF) MethodsThe idea of having obstacles conceptually exerting forces onto a mobile robot has been suggested by Khatib =-=[20]-=-. Krogh [21] has enhanced this concept further by taking into consideration the robot"s velocity in the vicinity of obstacles. Thorpe [26] has applied the Potential Fields Method to off-line path plan...

Citation Context

...e, as would be a decentralized solution which relied only on on-line negotiations among robots. Although there exist local techniques for collision avoidance, such as artificial potential fields (see =-=[6]-=-), the reader should not confuse them with a global mechanism of coordination such as social laws. Again, without detracting from the merit of the above mechanisms, we argue that it is necessary to de...