Associação Portuguesa de Controlo Automático (APCA)
Abstract
One of the most popular approaches to path planning and control is the
potential field method. This method is particularly attractive because it is suitable
for on-line feedback control. In this approach the gradient of a potential field is used
to generate the robot's trajectory. Thus, the path is generated by the transient
solutions of a dynamical system. On the other hand, in the nonlinear attractor
dynamic approach the path is generated by a sequence of attractor solutions. This
way the transient solutions of the potential field method are replaced by a sequence
of attractor solutions (i.e., asymptotically stable states) of a dynamical system. We
discuss at a theoretical level some of the main differences of these two approaches
