Invention Grant
US09098079B2 Method of joint planning and control of a rigid, separable non-holonomic mobile robot using a harmonic potential field approach
有权
使用谐波电场方法联合规划和控制刚性，可分离的非完整移动机器人的方法
- Patent Title: Method of joint planning and control of a rigid, separable non-holonomic mobile robot using a harmonic potential field approach
- Patent Title (中): 使用谐波电场方法联合规划和控制刚性，可分离的非完整移动机器人的方法
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Application No.: US14106040Application Date: 2013-12-13
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Publication No.: US09098079B2Publication Date: 2015-08-04
- Inventor: Ahmad A. Masoud
- Applicant: King Fahd University of Petroleum and Minerals
- Applicant Address: SA Dhahran
- Assignee: King Fahd University of Petroleum and Minerals
- Current Assignee: King Fahd University of Petroleum and Minerals
- Current Assignee Address: SA Dhahran
- Agency: Oblon, McClelland, Maier & Neustadt, L.L.P.
- Main IPC: G06F19/00
- IPC: G06F19/00 ; G05B19/19
Abstract:
A method of joint planning and control of a rigid, separable non-holonomic mobile robot using a harmonic potential field approach is provided. A controller, including a processor and memory, may receive parameters of the robot and a plan having a reference velocity field vector. The controller calculates a synchronization signal and a control signal. The control signal is used to synchronize an actual velocity of the robot in order to navigate the robot according to the plan.
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