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Article: A Spline-based Flexible Method of Virtual Force Design for Dynamic Motion Planning of Robots

TitleA Spline-based Flexible Method of Virtual Force Design for Dynamic Motion Planning of Robots
Authors
Issue Date2016
Citation
Computer-Aided Design and Applications, 2016, v. 13, p. 379-388 How to Cite?
AbstractVirtual force approach is preferable for motion planning of mobile robots in dynamic environments. It composes virtual attractive forces to drive robots to destinations and virtual repulsive forces to steer robots away from neighbouring robots. However, most traditional methods use functions with limited controllable parameters, compromising design flexibility essential for smooth yet responsive robot motions. This paper proposes a spline-based method to enhance design flexibility of virtual forces that streamline robot motions. We take advantage of local controllability of interpolating cubic splines to generate desirable smooth virtual forces for robots. This merit facilitates responsive robot motions in dynamic situations. A case study of autonomous military robots is presented to validate the approach, in terms of enhanced motion safety and shortened operational time.
Persistent Identifierhttp://hdl.handle.net/10722/231976

 

DC FieldValueLanguage
dc.contributor.authorChoi, SH-
dc.contributor.authorZHU, W-
dc.date.accessioned2016-09-20T05:26:45Z-
dc.date.available2016-09-20T05:26:45Z-
dc.date.issued2016-
dc.identifier.citationComputer-Aided Design and Applications, 2016, v. 13, p. 379-388-
dc.identifier.urihttp://hdl.handle.net/10722/231976-
dc.description.abstractVirtual force approach is preferable for motion planning of mobile robots in dynamic environments. It composes virtual attractive forces to drive robots to destinations and virtual repulsive forces to steer robots away from neighbouring robots. However, most traditional methods use functions with limited controllable parameters, compromising design flexibility essential for smooth yet responsive robot motions. This paper proposes a spline-based method to enhance design flexibility of virtual forces that streamline robot motions. We take advantage of local controllability of interpolating cubic splines to generate desirable smooth virtual forces for robots. This merit facilitates responsive robot motions in dynamic situations. A case study of autonomous military robots is presented to validate the approach, in terms of enhanced motion safety and shortened operational time.-
dc.languageeng-
dc.relation.ispartofComputer-Aided Design and Applications-
dc.titleA Spline-based Flexible Method of Virtual Force Design for Dynamic Motion Planning of Robots-
dc.typeArticle-
dc.identifier.emailChoi, SH: shchoi@hkucc.hku.hk-
dc.identifier.authorityChoi, SH=rp00109-
dc.identifier.doi10.1080/16864360.2015.1114395-
dc.identifier.hkuros263660-
dc.identifier.volume13-
dc.identifier.spage379-
dc.identifier.epage388-

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