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
Full text not available from this repository.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 03:43 |
| Last Modified: | 18 Jul 2012 03:08 |
| URI: | https://repository.usp.ac.fj/id/eprint/991 |
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