Fluid mechanics for path planning and obstacle avoidance of mobile robots
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 (Refereed)
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.
Mobile robots, obstacle avoidance, fluid mechanics, velocity potential
Engineering and Technology Computer Science
Research subject Computer Science
IdentifiersURN: urn:nbn:se:oru:diva-38966ISBN: 978-989-758-040-6OAI: oai:DiVA.org:oru-38966DiVA: diva2:765769
11th International Conference on Informatics in Control, Automation and Robotics, Vienna, Austria
ProjectsSAUNA - Safe Autonomous Navigation