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Fluid mechanics for path planning and obstacle avoidance of mobile robots
Örebro University, School of Science and Technology. (AASS)
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0002-9477-4044
2014 (English)In: ICINCO 2014 proceedings of the 11th International Conference on Informatics in Control Automation and Robotics / [ed] J.Filipe, O. Gusikhin, K.Madani, J. Sasiadek, SciTePress, 2014, 231-238 p.Conference paper, Published paper (Refereed)
Abstract [en]

Obstacle avoidance is an important issue for off-line path planning and on-line reaction to unforeseen appearance of obstacles during motion of a non-holonomic mobile robot along apredefined trajectory. Possible trajectories for obstacle avoidance are modeled by the velocity potential using a uniform flow plus a doublet representing a cylindrical obstacle. In the case of an appearance of an obstacle in the sensor cone of the robot a set of streamlines is computed from which a streamline is selected that guarantees a smooth transition from/to the planned trajectory. To avoid collisions with other robots a combination of velocity potential and force potential and/or the change of streamlines during operation (lane hopping) are discussed.

Place, publisher, year, edition, pages
SciTePress, 2014. 231-238 p.
Keyword [en]
Mobile robots, obstacle avoidance, fluid mechanics, velocity potential
National Category
Engineering and Technology Computer Science
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-38966ISBN: 978-989-758-040-6 (print)OAI: oai:DiVA.org:oru-38966DiVA: diva2:765769
Conference
11th International Conference on Informatics in Control, Automation and Robotics, Vienna, Austria
Projects
SAUNA - Safe Autonomous Navigation
Funder
Knowledge Foundation
Available from: 2014-11-25 Created: 2014-11-25 Last updated: 2017-10-17Bibliographically approved

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
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Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
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Output format
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