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2002

Bio-mimetic trajectory generation of robots via artificial potential field with time base generator

8 years 3 months ago
Bio-mimetic trajectory generation of robots via artificial potential field with time base generator
This paper proposes a new trajectory generation method that allows full control of transient behavior, namely, time-to-target and velocity profile, based on the artificial potential field approach for a real-time motion planning problem of robots. Little attention, in fact, has been paid to the temporal aspects of this class of path planning methods. The ability to control the motion time to the target as well as the velocity profile of the generated trajectories, however, is of great interest in real-life applications. In the paper, we argue that such transient behavior should be taken into account within the framework of the artificial potential field approach.
Toshio Tsuji, Yoshiyuki Tanaka, Pietro Morasso, Vi
Added 23 Dec 2010
Updated 23 Dec 2010
Type Journal
Year 2002
Where TSMC
Authors Toshio Tsuji, Yoshiyuki Tanaka, Pietro Morasso, Vittorio Sanguineti, Makoto Kaneko
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