期刊
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS
卷 37, 期 2, 页码 477-484出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMCB.2006.883866
关键词
artificial potential fields; robot navigation; virtual fixtures
The lack of a potential field model capable of providing accurate representations of objects of arbitrary shapes is considered one major limitation in applying the artificial potential field method in many practical applications. In this correspondence, we propose a potential function based on generalized sigmoid functions. The generalized sigmoid model can be constructed from combinations of implicit primitives or from sampled surface data. The constructed potential field model can achieve an accurate analytic description of objects in two or three dimensions and requires very modest computation at run time. In this correspondence, applications of the generalized sigmoid model in path-planning tasks for mobile robots and in haptic feedback tasks are presented. The validation results in this correspondence show that the model can effectively allow the user or mobile robot to avoid penetrations of obstacles while successfully accomplishing the task.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据