Fluid Mechanics for Path Planning and Obstacle Avoidance of Mobile Robots

Rainer Palm, Dimiter Driankov

2014

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 Harvard Style

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 2: ICINCO, ISBN 978-989-758-040-6, pages 231-238. DOI: 10.5220/0004986902310238


in Bibtex Style

@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 2: ICINCO,},
year={2014},
pages={231-238},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004986902310238},
isbn={978-989-758-040-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Fluid Mechanics for Path Planning and Obstacle Avoidance of Mobile Robots
SN - 978-989-758-040-6
AU - Palm R.
AU - Driankov D.
PY - 2014
SP - 231
EP - 238
DO - 10.5220/0004986902310238