The Robotics Institute

Carnegie Mellon Robotics Institute

Menu

• About RI
• People
• Research
• Education
• Careers
• News & Media
• Events

• RI History

• Contact Us

• Maps & Directions

• About this Site

• Faculty

• Adjunct Faculty

• Students

• Postdoctoral Fellows

• Project Staff

• Institute Staff

• Visitors

• Alumni

• All RI Members

• Faculty Research Interests

• Research Centers

• Consortia

• Labs & Groups

• Projects

• Publications

• Academic Programs

• Admissions

• Policies and Forms

• Courses

• Student Services

• Student Life

• Faculty Positions

• Staff Positions

• Postdoctoral Positions

• Internships

• Employers Seeking Graduating Students

• Graduate Students Seeking Employment

• Official Press Releases

• Recent News

• Videos

• Events and Activities

• Talks and Seminars

Composition of local potential functions for global robot control and navigation

David C. Conner, Alfred Rizzi, and Howie Choset
Proceedings of 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), October, 2003, pp. 3546- 3551.

Download

Adobe portable document format (pdf) (567KB) Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract

This paper develops a method of composing simple control policies, applicable over a limited region in a dynamical system's free space, such that the resulting composition completely solves the navigation and control problem for the given system operating in a constrained environment. The resulting control policy deployment induces a global control policy that brings the system to the goal, provided that there is a single connected component of the free space containing both the start and goal configurations. In this paper, control policies for both kinematic and simple dynamical systems are developed. This work assumes that the initial velocities are somewhat aligned with the desired velocity vector field. We conclude by offering an outline of an approach for accommodating arbitrary dynamical constraints and initial conditions.

Notes

Associated Lab(s) / Group(s): Microdynamic Systems Laboratory and Biorobotics Number of pages: 6

Text Reference

David C. Conner, Alfred Rizzi, and Howie Choset, "Composition of local potential functions for global robot control and navigation," Proceedings of 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), October, 2003, pp. 3546- 3551.

BibTeX Reference

@inproceedings{Conner_2003_4556,    author = "David C. Conner and Alfred Rizzi and Howie Choset",    title = "Composition of local potential functions for global robot control and navigation",    booktitle = "Proceedings of 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003)",    pages = "3546- 3551",    publisher = "IEEE",    month = "October",    year = "2003",    volume = "4", }