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Obstacle avoidance of non-holonomic unicycle robots based on fluid mechanical modeling

Soukieh, Rabie; Shames, Iman; Fidan, Baris


This paper is concerned with obstacle avoidance of robots moving on a plane, based on a fluid mechanical principle known as the Circle Theorem. Considering the motion region as a fictitious fluid environment surrounding the obstacles, fluid streamlines are calculated which correspond to unique smooth paths that a mobile robot can follow without colliding with the obstacles. The design and analysis are initially performed assuming simple integrator dynamics for the agent, and later extended for...[Show more]

CollectionsANU Research Publications
Date published: 2009
Type: Conference paper
Source: 2009 European Control Conference, ECC 2009


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