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Authors: Rainer Palm and Dimiter Driankov

Affiliation: Örebro University, Germany

Keyword(s): Mobile Robots, Obstacle Avoidance, Fluid Mechanics, Velocity Potential.

Related Ontology Subjects/Areas/Topics: Artificial Intelligence ; Engineering Applications ; Formal Methods ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Intelligent Transportation Technologies and Systems ; Planning and Scheduling ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control ; Simulation and Modeling ; Symbolic Systems ; Vehicle Control Applications

Abstract: 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 a predefined 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.

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Paper citation in several formats:
Palm, R. and Driankov, D. (2014). Fluid Mechanics for Path Planning and Obstacle Avoidance of Mobile Robots. In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-040-6; ISSN 2184-2809, SciTePress, pages 231-238. DOI: 10.5220/0004986902310238

@conference{icinco14,
author={Rainer Palm. and Dimiter Driankov.},
title={Fluid Mechanics for Path Planning and Obstacle Avoidance of Mobile Robots},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2014},
pages={231-238},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004986902310238},
isbn={978-989-758-040-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Fluid Mechanics for Path Planning and Obstacle Avoidance of Mobile Robots
SN - 978-989-758-040-6
IS - 2184-2809
AU - Palm, R.
AU - Driankov, D.
PY - 2014
SP - 231
EP - 238
DO - 10.5220/0004986902310238
PB - SciTePress

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