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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]

dc.contributor.authorSoukieh, Rabie
dc.contributor.authorShames, Iman
dc.contributor.authorFidan, Baris
dc.coverage.spatialTBC
dc.date.accessioned2015-12-10T23:26:44Z
dc.date.available2015-12-10T23:26:44Z
dc.date.createdAugust 23-26 2009
dc.identifier.isbn9783952417393
dc.identifier.urihttp://hdl.handle.net/1885/67902
dc.description.abstractThis 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 more realistic non-holonomic unicycle dynamic agent models, with the help of proportional integral (PI) control and backstepping principles. Both point and non-point (ellipse) geometric models are considered for the agents in design and analysis. The fluid dynamics based designs developed for obstacle avoiding motion control of agents with non-holonomic unicycle dynamics are novel, and successfully tested via an extensive set of simulations. Application of the developed designs for motion control of unmanned aerial vehicles (UAVs) under the constraint of constant speed is also presented.
dc.publisherConference Organising Committee
dc.relation.ispartofseries2009 10th European Control Conference, ECC 2009
dc.source2009 European Control Conference, ECC 2009
dc.titleObstacle avoidance of non-holonomic unicycle robots based on fluid mechanical modeling
dc.typeConference paper
local.description.notesImported from ARIES
local.description.refereedYes
dc.date.issued2009
local.identifier.absfor010203 - Calculus of Variations, Systems Theory and Control Theory
local.identifier.absfor091299 - Materials Engineering not elsewhere classified
local.identifier.ariespublicationa383154xPUB1559
local.type.statusPublished Version
local.contributor.affiliationSoukieh, Rabie, College of Engineering and Computer Science, ANU
local.contributor.affiliationShames, Iman, College of Engineering and Computer Science, ANU
local.contributor.affiliationFidan, Baris, College of Engineering and Computer Science, ANU
local.bibliographicCitation.startpage3269
local.bibliographicCitation.lastpage3274
dc.date.updated2015-12-10T11:02:15Z
local.identifier.scopusID2-s2.0-84928183944
CollectionsANU Research Publications

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