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TitleThe potential field method and the nonlinear attractor dynamics approach: what are the differences?
Author(s)Silva, Eliana Oliveira Costa
Bicho, Estela
Erlhagen, Wolfram
KeywordsPath planning and control
Artificial potential field method
Nonlinear attractor dynamics
Nonlinear dynamical systems
Autonomous mobile robots
Issue dateSep-2006
PublisherAssociação Portuguesa de Controlo Automático (APCA)
CitationE. Costa e Silva, E. Bicho, W. Erlhagen, “Potential Field Method and Nonlinear Attractor Dynamics Approach: What are the differences?”, , In Proceedings of the 7th Portuguese Conference on Automatic Control (CONTROLO‘2006), 7 pages, 11-13 September, Lisboa, Portugal.
Abstract(s)One of the most popular approaches to path planning and control is the potential field method. This method is particularly attractive because it is suitable for on-line feedback control. In this approach the gradient of a potential field is used to generate the robot's trajectory. Thus, the path is generated by the transient solutions of a dynamical system. On the other hand, in the nonlinear attractor dynamic approach the path is generated by a sequence of attractor solutions. This way the transient solutions of the potential field method are replaced by a sequence of attractor solutions (i.e., asymptotically stable states) of a dynamical system. We discuss at a theoretical level some of the main differences of these two approaches.
TypeConference paper
AccessOpen access
Appears in Collections:CAlg - Artigos em livros de atas/Papers in proceedings

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