Obstacle avoidance of robotic formations based on fluid mechanical modeling
Shames, Iman; Fidan, Baris; Soukieh, Rabie
Description
This paper is on obstacle avoidance of swarms of robots moving in certain geometric planar formations. Focus is given to a particular obstacle avoidance approach, which is based on the 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 robot or a robotic formation can follow without colliding with the obstacles. The...[Show more]
Collections | ANU Research Publications |
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Date published: | 2009 |
Type: | Conference paper |
URI: | http://hdl.handle.net/1885/67906 |
Source: | 2009 European Control Conference, ECC 2009 |
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