Trajectory generation using time scaled artificial potential field
Yoshiyuki Tanaka, Toshio Tsuji, Makoto Kaneko, Pietro Morasso · 2002
A trajectory generation method for the dynamic control of robots is proposed. The method is developed by introducing the combination of a time scale transformation with a time base generator into the artificial potential field approach. This method can actively control the dynamic behavior of the robot without any change of the form of the designed controller itself. Effectiveness of the proposed method is verified through computer simulations with an omnidirectional mobile robot.