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Path Planning: An Approach Based on Connecting All the Minimizers and Maximizers of a Potential Function

Shashikala, H and Sancheti, NK and Keerthi, SS (1992) Path Planning: An Approach Based on Connecting All the Minimizers and Maximizers of a Potential Function. In: 1992 IEEE International Conference on Robotics and Automation, 12-14 May, Nice,France, Vol.3, 2309-2314.

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Abstract

An improved potential-based method for robot path planning is developed by connecting all the local minima and local maxima of the potential function defined in fhe configurntion space of the robot. The method is based on the stability theory of dynamical systems. The usefulness of the method is demonstrated on a two dimensional piano mover’s problem with three degrees of freedom.

Item Type: Conference Paper
Additional Information: Copyright 1992 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE
Department/Centre: Division of Electrical Sciences > Computer Science & Automation (Formerly, School of Automation)
Date Deposited: 25 Aug 2008
Last Modified: 19 Sep 2010 04:28
URI: http://eprints.iisc.ernet.in/id/eprint/7272

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