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. ; SAUNA - Safe Autonomous Navigation
Fluid mechanics for path planning and obstacle avoidance of mobile robots
2014-01-01
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
DDC: | 629 |
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