Superquadric artificial potentials for obstacle avoidance and approach

An obstacle-avoidance potential based on superquadrics is discussed. The superquadric formulation is a generalization of the elliptical potential function method and therefore is viable for a much larger class of object shapes. As with elliptical potentials, a modified form of the superquadric potential provides safe approach objects. The avoidance and approach potentials are implemented in simulations and the results exhibit an improvement over existing potential schemes. The simulations also use an algorithm that eliminates collisions with obstacles by calculating the repulsive forces exerted on links, based on the shortest distance to an object.>