Design of a Time-Varying Continuous Control to Solve the Potential Field Local Minima Problem

Jian Yang; Mi Dong

doi:10.4028/www.scientific.net/AMM.130-134.2465

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 130-134Design of a Time-Varying Continuous Control to...

Design of a Time-Varying Continuous Control to Solve the Potential Field Local Minima Problem

Abstract:

The subject of this paper is the local minima problem (LMP) inherent in potential field methods (PFMs). Firstly, the underlying theoretical basis of LMP is formulated and its theoretical difficulty of control design is analyzed. It is shown that there does not exist a static state feedback control to solve LMP. Then a time-varying continuous control law is proposed to tackle this problem. In particular, challenges of finding continuous control solutions of LMP are discussed and explicit design strategies are then proposed. Moreover, systematic rigorous Lyapunov proof is given to show both global goal convergence provided that the goal is globally reachable and obstacle avoidance of the proposed controls. Simulation results are provided to illustrate the validity and effectiveness.

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Periodical:

Applied Mechanics and Materials (Volumes 130-134)

Pages:

2465-2469

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.130-134.2465

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Online since:

October 2011

Authors:

Jian Yang, Mi Dong

Keywords:

Local Minima, Mobile Robot, Potential Field, Time-Varying Continuous Control

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