NDLI: Path planning and trajectory generation using multi-rate predictive Artificial Potential Fields

Content Provider	IEEE Xplore Digital Library
Author	Mora, M.C. Tornero, J.
Copyright Year	2008
Description	Author affiliation: Mech. Eng. & Constr. Dept., Univ. Jaume I, Castellon (Mora, M.C.)
Abstract	In this paper, a multi-rate predictive artificial potential field method for dynamic and uncertain environments is described. It is based on the combination of classical Artificial Potential Field methods (APF) with Multi-rate Kalman Filter estimations (MKF), which takes into account present and future obstacle locations within a temporal horizon. By doing that, position uncertainty of obstacles is considered in the avoidance algorithm. This implies anticipation to the movement of the obstacles and its consideration in the path planning strategy. In this paper, forces derived from the potential field are taken as control inputs for the system model as well as considered in the Kalman Filter estimation. This leads to the generation of a local trajectory that fully meets the restrictions imposed by the kinematic model of the robot.
Starting Page	2990
Ending Page	2995
File Size	1006058
Page Count	6
File Format	PDF
ISBN	9781424420575
DOI	10.1109/IROS.2008.4651091
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-22
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Trajectory Mathematical model Uncertainty Force Ellipsoids Robot sensing systems
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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