Obstacle avoidance of non-holonomic unicycle robots based on fluid mechanical modeling
Soukieh, Rabie; Shames, Iman; Fidan, Baris
Description
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]
Collections | ANU Research Publications |
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Date published: | 2009 |
Type: | Conference paper |
URI: | http://hdl.handle.net/1885/67902 |
Source: | 2009 European Control Conference, ECC 2009 |
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