Robot Motion Planning using Hyperboloid Potential Functions

—A new approach to robot path planning using hyperboloid potential functions is presented in this paper. Unlike parabolic potential functions, where the control force increases with distance from the goal and is unbound, and conic potential functions where a singularity occurs at the goal, hyperboloid potential functions avoid both these drawbacks. However, they do combine the advantages of both parabolic and conic potentials as the asymptotic property of the hyperbolic function ensures bounded control forces, while stability and smooth contact are guaranteed at the goal point.

• Type: Conference
• Year: 2007
• Where: WCE
• Authors: A. Badawy, Colin R. McInnes
• Keywords: Hyperboloid Potential Functions, Parabolic Potential Functions, Potential Functions, WCE 2007, WCE 2008