New potential field functions for motion planning and posture control of 1-trailer systems
Bibhya Nand Sharma, Jito Vanualailai, Krishna Raghuwaiya, Avinesh Prasad · 2008
This paper presents a set of new artificial potential field functions that improves upon, in general, the motion planning and posture control, with theoretically guaranteed point and posture stabilities, convergence and collision avoidance properties of 1-trailer systems in a priori known environment. We basically design and inject two new concepts; ghost walls and the distance optimization technique (DOT) to strengthen point and posture stabilities, in the sense of Lyapunov, of our dynamical model. This new combination of techniques emerges as a convenient mechanism for obtaining feasible orientations at the target positions with an overall reduction in the complexity of the navigation laws. The effectiveness of the proposed control laws were demonstrated via simulations of the two traffic scenarios.