A new algorithm for mobile robot obstacle avoidance based on hydrodynamics

被引：4
|
作者：
Liu, Chang-An [1 ]
Wei, Zhenhua [1 ]
Liu, Chunyang [1 ]
机构：
[1] N China Elect Power Univ, Sch Comp Sci & Technol, Beijing 102206, Peoples R China
来源：
2007 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION AND LOGISTICS, VOLS 1-6 | 2007年
关键词：
mobile robot obstacle-avoidance; peripheral flow; velocity potential function; stream function;
D O I：
10.1109/ICAL.2007.4338962
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The algorithm for mobile robot obstacle avoidance based on hydrodynamics applies the continuity and smoothness of fluid motion into the motion of mobile robot. Firstly, the basic principle of the algorithm is introduced based on the reference pattern of non-circulation circumfluence. Secondly, 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.
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页码：2310 / 2313
页数：4
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