Navigation Method for Wheeled Mobile Robot Using Streamline of Complex Potential Flow

被引：0
|
作者：
Rew, Keun-Ho [1 ]
Kim, Donghan [1 ]
机构：
[1] Hoseo Univ, Dept Robot Engn, Chungnam, South Korea
来源：
2008 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS, VOLS 1-4 | 2008年
关键词：
Robot Navigation; Complex Potential Flow; Stream Line; Obstacle Avoidance;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, new navigation method for wheeled mobile robot using streamline of complex potential flow is proposed. In the past, the potential field method for robot navigation was pointed out that oscillations are inevitable. The authors adopted the streamline as the robot trajectory and show that it makes smaller oscillation than the conventional potential field method. Instead of using velocity obtained from the gradient of potential, following the streamline is easier and shows the less oscillation and better maneuvering in obstacle avoidance. The results from several simulations and experiments show the better performances.
引用
收藏
页码：2471 / 2474
页数：4
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