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New potential field functions for motion planning and posture control of 1-trailer systems

Sharma, Bibhya N. and Vanualailai, Jito and Raghuwaiya, Krishna and Prasad, Avinesh (2008) New potential field functions for motion planning and posture control of 1-trailer systems. International Journal of Mathematics and Computer Science, 3 (1). pp. 45-71. ISSN 1814-0424

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Abstract

This paper presents a set of new artificial potential field functions that improves upon, in general, the motion planning and posture control, with theoretically guaranteed point and posture stabilities, convergence and collision avoidance properties of 1-trailer systems in a priori known environment. We basically design and inject two new concepts; ghost walls and the distance optimization technique (DOT) to strengthen point and posture stabilities, in the sense of Lyapunov, of our dynamical model. This new combination of techniques emerges as a convenient mechanism for obtaining feasible orientations at the target positions with an overall reduction in the complexity of the navigation laws. The effectiveness of the proposed control laws were demonstrated via simulations of the two traffic scenarios.

Item Type: Journal Article
Subjects: Q Science > QA Mathematics
Divisions: Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences
Depositing User: Ms Neha Harakh
Date Deposited: 27 May 2008 15:43
Last Modified: 18 Jul 2012 15:08
URI: http://repository.usp.ac.fj/id/eprint/991
UNSPECIFIED

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