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.

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