DocumentCode :
3476096
Title :
A New Algorithm for Mobile Robot Obstacle Avoidance Based on Hydrodynamics
Author :
Liu, Chang-An ; Wei, Zhenhua ; Liu, Chunyang
Author_Institution :
North China Electr. Power Univ., Beijing
fYear :
2007
fDate :
18-21 Aug. 2007
Firstpage :
2310
Lastpage :
2313
Abstract :
The algorithm for mobile robot obstacle avoidance based on hydrodynamics applies the continuity and smoothness of fluid motion into the motion of mobile robot. First, the basic principle of the algorithm is introduced based on the reference pattern of non-circulation circumfluence. Second, the smooth obstacle-avoidance is put into reality by combining the movement characters of mobile robot and liquid. Finally, the validity of the algorithm is got by simulation test. At the same time, the algorithm can be broadened the research field of mobile robot kinematics.
Keywords :
collision avoidance; hydrodynamics; mobile robots; robot kinematics; fluid motion; hydrodynamics; mobile robot kinematics; mobile robot obstacle avoidance; noncirculation circumfluence; reference pattern; Computer science; Hydrodynamics; Logistics; Mobile robots; Orbital robotics; Path planning; Robot kinematics; Robotics and automation; Space technology; Testing; mobile robot obstacle-avoidance; peripheral flow; stream function; velocity potential function;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Automation and Logistics, 2007 IEEE International Conference on
Conference_Location :
Jinan
Print_ISBN :
978-1-4244-1531-1
Type :
conf
DOI :
10.1109/ICAL.2007.4338962
Filename :
4338962
Link To Document :
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