A network based, delay-tolerant, integrated navigation system for a differential drive UGV using harmonic potential field

Proceedings of the IEEE Conference on Decision and Control

Volumn , Issue , 2006, Pages 1870-1875

  Gupta, Rachana Ashok ^a   Masoud, Ahmad A ^b   Chow, Mo Yuen ^a  

^a North Carolina State University   (United States)

^b KING FAHD UNIVERSITY OF PETROLEUM AND MINERALS   (Saudi Arabia)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; ALGORITHMS; COLLISION AVOIDANCE; REAL TIME CONTROL;

HARMONIC POTENTIAL FIELDS; HETEROGENEOUS SYSTEMS; INTEGRATED NAVIGATION SYSTEMS;

NAVIGATION SYSTEMS;

EID: 39649125406     PISSN: 07431546     EISSN: 25762370     Source Type: Conference Proceeding    
DOI: 10.1109/cdc.2006.377203     Document Type: Conference Paper

References (14)

1. Khatib, O. Real-time obstacle avoidance for manipulators and mobile robots, in Robotics and Automation. Proceedings. 1985 IEEE International Conference on. 1985.
2. Connolly, C.I., J.B. Burns, and R. Weiss. Path planning using Laplace's equation, in Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on. 1990.
3. Connolly. C.I. Applications of harmonic functions to robotics, in Intelligent Control, 1992., Proceedings of the 1992 IEEE International Symposium on. 1992.
4. Connolly, C.I. and R.A. Grupen. Harmonic control [robot applications]. in Intelligent Control, 1992., Proceedings of the 1992 IEEE International Symposium on. 1992.
5. Kim, J.-O. and P.K. Khosla, Real-time obstacle avoidance using harmonic potential functions. Robotics and Automation, IEEE Transactions on, 1992. 8(3): p. 338-349.
6. Tanner, H.G. and K.J. Kyriakopoulos. Nonholonomic motion planning for mobile manipulators, in Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on. 2000.
7. Masoud, S.A. and A.A. Masoud, Motion planning in the presence of directional and regional avoidance constraints using nonlinear, anisotropic, harmonic potential fields: a physical metaphor. Systems, Man and Cybernetics, Part A, IEEE Transactions on, 2002. 32(6): p. 705-723.
8. Alvarez, D., J.C. Alvarez, and R.C. Gonzalez. Online motion planning using Laplace potential fields, in Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on. 2003.
9. Wesley Snyder, Hairong Qi, Machine Vision, Cambridge University Press, 2004
10. K. Yoshizawa, H. Hashimoto. M. Wada, and S. M. Mori, Path tracking control of mobile robots using a quadratic curve, presented at IEEE Intelligent Vehicles Symposium'96, Tokyo, Japan, 1996.
11. Tipsuwan, Y., Chow M.-Y., Gain scheduler middleware: a methodology to enable existing controllers for networked control and tele-operation - part I: networked control, IEEE Transactions on Industrial Electronics Dec. 2004 Volume 51, Issue 6, Page(s):1218-1227
12. Wai-Lun Danny Leung. Rangsarit Vanijjirattikhan, Zheng Li, Le Xu, Tyler Richards, Bulent Ayhan, Mo-Yuen, Chow, Intelligent Space with Time Sensitive Applications, Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
13. Sethian, J. A., A fast marching level set method for monotonically advancing fronts. Proceedings of the National Academy of Science of the United States of America, February 1996, PNAS 93, 1591-1595.
14. R A Gupta, A. Masoud and M. Y. Chow, A Delay-tolerant, Potential field-based, Network Implementation of an Integrated Navigation System in Proceedings of the IEEE/RSJ International conference on Intelligent Robots and Systems, 2006.