A harmonic potential field approach for navigating a rigid, nonholonomic robot in a cluttered environment

Authors:
Ahmad A. Masoud
Affiliations:
Electrical Engineering Department, KFUPM, Saudi Arabia
Venue:
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Year:
2009

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Abstract

This paper demonstrates the ability of the harmonic potential field (HPF) planning approach to generate a provably-correct, constrained, well-behaved trajectory for a rigid, nonholonomic robot (a tractor-trailer robot is not rigid) in a stationary, cluttered environment. This is accomplished using a closed loop control scheme that is inspired by model predictive control (MPC). The scheme is realized using a synchronizing signal derived from the HPF along with a procedure for inverting the process the robot is using for actuating motion. Performance proofs as well as simulation results of the suggested planner are supplied.