A comparison between reactive potential fields and Attractor Dynamics

Hernandes, Andre C.; Guerrero, Henry Borrero; Becker, Marcelo; Jokeit, Jean-Stephane; Schöner, Gregor

doi:10.1109/cwcas.2014.6994609

Cited by 4 publications

(2 citation statements)

References 3 publications

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“…asymptotical stable states) of a dynamical system, which therefore contribute to the asymptotical stability of the overall control system (for a comparison of these two approaches see e.g. Fajen et al 2003;Costa e Silva et al 2006;Hernandes et al 2014).…”

Section: Discussionmentioning

confidence: 99%

Attractor dynamics approach to joint transportation by autonomous robots: theory, implementation and validation on the factory floor

et al. 2018

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This paper shows how non-linear attractor dynamics can be used to control teams of two autonomous mobile robots that coordinate their motion in order to transport large payloads in unknown environments, which might change over time and may include narrow passages, corners and sharp U-turns. Each robot generates its collision-free motion online as the sensed information changes. The control architecture for each robot is formalized as a non-linear dynamical system, where by design attractor states, i.e. asymptotically stable states, dominate and evolve over time. Implementation details are provided, and it is further shown that odometry or calibration errors are of no significance. Results demonstrate flexible and stable behavior in different circumstances: when the payload is of different sizes; when the layout of the environment changes from one run to another; when the environment is dynamic-e.g. following moving targets and avoiding moving obstacles; and when abrupt disturbances challenge team behavior during the execution of the joint transportation task.

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Section: Discussionmentioning

confidence: 99%

Attractor dynamics approach to joint transportation by autonomous robots: theory, implementation and validation on the factory floor

et al. 2018

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“…However, it may have some advantages over traditional APFs algorithms, the most well-known algorithm of this kind. For instance, ADA lacks local minima [48]. Thus, the following contributions to the state of the art are hereby emphasized: The present paper is organized as follows: Section 3 presents the methodology which includes a brief introduction of the ADA approach and the proposed modifications on it for vehicles, the dynamic model of the vehicle, the followed methodology to generate the local path, and the experiments for test the present approach.…”

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confidence: 99%

Local Path Planning for Autonomous Vehicles Based on the Natural Behavior of the Biological Action-Perception Motion

et al. 2022

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Local path planning is a key task for the motion planners of autonomous vehicles since it commands the vehicle across its environment while avoiding any obstacles. To perform this task, the local path planner generates a trajectory and a velocity profile, which are then sent to the vehicle’s actuators. This paper proposes a new local path planner for autonomous vehicles based on the Attractor Dynamic Approach (ADA), which was inspired by the behavior of movement of living beings, along with an algorithm that takes into account four acceleration policies, the ST dynamic vehicle model, and several constraints regarding the comfort and security. The original functions that define the ADA were modified in order to adapt it to the non-holonomic vehicle’s constraints and to improve its response when an impact scenario is detected. The present approach is validated in a well-known simulator for autonomous vehicles under three representative cases of study where the vehicle was capable of generating local paths that ensure the security of the vehicle in such cases. The results show that the approach proposed in this paper is a promising tool for the local path planning of autonomous vehicles since it is able to generate trajectories that are both safe and efficient.

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Path Planning for an Autonomous Electric Vehicle based on Attractors Dynamics and Differential Evolution

Bautista-Camino

Pérez-Pinal

Rodriguez-Licea

et al. 2019

2019 IEEE Transportation Electrification Conference and Expo (ITEC)

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A comparison between reactive potential fields and Attractor Dynamics

Cited by 4 publications

References 3 publications

Attractor dynamics approach to joint transportation by autonomous robots: theory, implementation and validation on the factory floor

Attractor dynamics approach to joint transportation by autonomous robots: theory, implementation and validation on the factory floor

Local Path Planning for Autonomous Vehicles Based on the Natural Behavior of the Biological Action-Perception Motion

Path Planning for an Autonomous Electric Vehicle based on Attractors Dynamics and Differential Evolution

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