Superquadric artificial potentials for obstacle avoidance and approach
نویسندگان
چکیده
P r ~ i o u s LUC of arr$cial pountiab has dononraolcd the need for an oinmcle moidwue p o r e d that closely mo&L he obstacle. ye1 docr not pnworr lord minim0 in the wontrpocc of rhr manipuhror. Recentty we proposed a new ellipticd porcrdolfwvrion which &fis hesc rcquirenunu for rectongrhu objects in spherically synuncrric amocdvc wells. In rhir paper we present a ntw obstacle avoidwue porenriol b e d on suprquodrics. The snpcrqudru fonnvhrion is a generdiratbn qf he eluprlcor poteuial -don mrrhod. and therefore is vhble for a much larger c h u cfOb/ccr dupes. As with elliptical porentiaLr. a modi)W f o m 4 he supcquta&ic porenfial providrs s 4 e approach UnVoId objects. We hove in~bnmrrd the avoidoncc and approach potendolr k sLnvhtlonr Md the r e s h uhibir M
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