loading
Papers

Research.Publish.Connect.

Paper

Paper Unlock

Authors: Rainer Palm and Dimiter Driankov

Affiliation: Örebro University, Germany

ISBN: 978-989-758-040-6

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.

PDF ImageFull Text

Download
CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 34.237.51.35

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

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, 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},
}

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
AU - Palm, R.
AU - Driankov, D.
PY - 2014
SP - 231
EP - 238
DO - 10.5220/0004986902310238

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.