Research paper
Potential-field avoidance in operational-space control
Artificial potential fields generate reactive avoidance for moving obstacles, arm links and joint limits. The publisher-deposited abstract describes visual-sensing demonstrations on a PUMA560 manipulator.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- Real-Time Obstacle Avoidance for Manipulators and Mobile Robots
- Publisher
- SAGE Publications
- Authors
- Oussama Khatib
- DOI
- 10.1177/027836498600500106
- Journal issue date
- 1986-03
- Source language
- en
- Edition
- The International Journal of Robotics Research
- Access
- Public bibliography and abstract
- Publication status
- Published
Source overview
Artificial potential fields generate reactive avoidance for moving obstacles, arm links and joint limits. The publisher-deposited abstract describes visual-sensing demonstrations on a PUMA560 manipulator.
Use and review
Local collision avoidance does not establish a globally feasible route. Geometry, sensing, moving-obstacle prediction and real-time execution assumptions need application-specific checks.
Sources & editions
Real-Time Obstacle Avoidance for Manipulators and Mobile Robots ↗
SAGE Publications · The International Journal of Robotics Research
Publisher-deposited Crossref abstract/authors and month-only original issue date checked; online metadata separately adds day1. Abstract review only.