Harmonic Control
نویسندگان
چکیده
Harmonic functions provide a method for implementingpotentialeld path planning. Since they produce smooth vector elds which are free of spurious local minima, they also provide an ideal mechanism for implementing velocity-based control. This paper describes the implementation of velocity control using harmonic functions. The resulting control system is termed \Harmonic Control" and is quite robust in the face of geometric error in the environmental model.
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