NDLI: Robot navigation using a pressure generated mechanical stress field: "the biharmonic potential approach"

Content Provider	IEEE Xplore Digital Library
Author	Masoud, A.A. Masoud, S.A. Bayoumi, M.M.
Copyright Year	1994
Description	Author affiliation: Dept. of Electr. Eng., Queen's Univ., Kingston, Ont., Canada (Masoud, A.A.)
Abstract	This paper suggests a new approach for navigation in a known environment. The approach is based on the biharmonic potential fields which govern mechanical stress fields in homogeneous solids. It is observed that a path generated by such a technique is free of sharp turns that may appear in its counterpart that is generated from an underlying harmonic potential. This in turns makes a path from the former more dynamically suitable for traversal. Also, the navigation field is extracted from the biharmonic potential in a manner that bypass the rapidly vanishing field problem which is encountered in the harmonic potential approach. Development of the biharmonic approach, simulation results, as well as comparison with the Neumann and Dirichlet setting of the harmonic approach are provided.
Starting Page	124
Ending Page	129
File Size	428907
Page Count	6
File Format	PDF
ISBN	0818653302
DOI	10.1109/ROBOT.1994.351000
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1994-05-08
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation Stress Service robots Path planning Feature extraction Geometry Educational institutions Laboratories Solids Fasteners
Content Type	Text
Resource Type	Article

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