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Fluid mechanics for...
Fluid mechanics for path planning and obstacle avoidance of mobile robots
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- Palm, Rainer, 1942- (författare)
- Örebro universitet,Institutionen för naturvetenskap och teknik,AASS
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- Driankov, Dimiter, 1952- (författare)
- Örebro universitet,Institutionen för naturvetenskap och teknik,AASS
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(creator_code:org_t)
- SciTePress, 2014
- 2014
- Engelska.
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Ingår i: ICINCO 2014 proceedings of the 11th International Conference on Informatics in Control Automation and Robotics. - : SciTePress. - 9789897580406 ; , s. 231-238
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Abstract
Ämnesord
Stäng
- 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.
Ämnesord
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Sciences (hsv//eng)
Nyckelord
- Mobile robots
- obstacle avoidance
- fluid mechanics
- velocity potential
- Datavetenskap
- Computer Science
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)
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