Integrating directional constraints in intelligent, hybrid, PDE-ODE motion controllers

This paper addresses an important problem that has remained, to the best of the authors´ knowledge, neglected in the motion planning literature - that is the incorporation of directional constraints along with obstacle avoidance in steering a robot to a target zone. In this paper harmonic field motion planners which can only deal with isotropic workspaces are generalized to incorporate anisotropic workspaces with pre-imposed directional constraints. Theoretical developments along with simulation results are provided