Vector-Potential-Function-based Motion Planning for Nonholonomic Robots in a Complex Workspace

2011 ◽  
Author(s):  
Anugrah K. Pamosoaji ◽  
Keum-Shik Hong
Keyword(s):  
Motion Planning ◽  
Potential Function ◽  
Vector Potential ◽  
Nonholonomic Robots

Two-dimensional motion-planning for nonholonomic robots using the bump-surfaces concept

Computing ◽  
2007 ◽  
Vol 79 (2-4) ◽  
pp. 109-118 ◽  
Author(s):  
E. K. Xidias ◽  
P. N. Azariadis ◽  
N. A. Aspragathos
Keyword(s):  
Motion Planning ◽  
Two Dimensional ◽  
Nonholonomic Robots

Motion Planning of Underwater Vehicle-Manipulator System with Joint Limit

2012 ◽  
Vol 220-223 ◽  
pp. 1767-1771 ◽  
Author(s):  
Ming Jun Zhang ◽  
Sheng Quan Peng ◽  
Zhen Zhong Chu ◽  
Yu Jia Wang
Keyword(s):  
Motion Planning ◽  
Potential Function ◽  
Orientation Angle ◽  
Underwater Vehicle ◽  
Initial Position ◽  
Joint Motion ◽  
Minimum Norm ◽  
Improved Method ◽  
Joint Velocity ◽  
Joint Limit

This paper studies motion planning of underwater vehicle-manipulator system (UVMS) based on weighted minimum norm method with joint limit. In response to the problem that joint motion is limited and cannot give full play to kinematical performance in the range of allowed orientation angle, existed in the traditional weighted minimum norm method for joint limit, an improved method about motion planning is proposed. By means of introducing threshold in the joint potential function to change the initial position where the joint velocity is limited, the method makes that joint is only limited between threshold and boundary when it moves from the middle position to bilateral boundaries. A simulation is carried out to verify the proposed motion planning method.

scholarly journals A note on the uniqueness of 2D elastostatic problems formulated by different types of potential functions

Open Physics ◽  
2018 ◽  
Vol 16 (1) ◽  
pp. 201-210
Author(s):  
José Luis Morales Guerrero ◽  
Manuel Cánovas Vidal ◽  
José Andrés Moreno Nicolás ◽  
Francisco Alhama López
Keyword(s):  
Boundary Conditions ◽  
Potential Function ◽  
Vector Potential ◽  
Numerical Scheme ◽  
Scalar Potential ◽  
Three Dimensional ◽  
Potential Functions ◽  
Network Method ◽  
Different Types ◽  
Physical Boundary

Abstract New additional conditions required for the uniqueness of the 2D elastostatic problems formulated in terms of potential functions for the derived Papkovich-Neuber representations, are studied. Two cases are considered, each of them formulated by the scalar potential function plus one of the rectangular non-zero components of the vector potential function. For these formulations, in addition to the original (physical) boundary conditions, two new additional conditions are required. In addition, for the complete Papkovich-Neuber formulation, expressed by the scalar potential plus two components of the vector potential, the additional conditions established previously for the three-dimensional case in z-convex domain can be applied. To show the usefulness of these new conditions in a numerical scheme two applications are numerically solved by the network method for the three cases of potential formulations.

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