Potential field functions for motion planning and posture of the standard 3 - trailer system

Raghuwaiya, Krishna and Singh, Shonal and Sharma, Bibhya N. and Vanualailai, Jito (2014) Potential field functions for motion planning and posture of the standard 3 - trailer system. [Conference Proceedings]

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Abstract

This paper presents a set of 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 3-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 two traffic scenarios.

Item Type:	Conference Proceedings
Subjects:	Q Science > QA Mathematics
Divisions:	Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences
Depositing User:	Krishna Raghuwaiya
Date Deposited:	02 Jun 2014 22:46
Last Modified:	08 Feb 2017 22:36
URI:	http://repository.usp.ac.fj/id/eprint/7272

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