A New Algorithm for Mobile Robot Obstacle Avoidance Based on Hydrodynamics

摘要：

The algorithm for mobile robot obstacle avoidance based on hydrodynamics applies the continuity and smoothness of fluid motion into the motion of mobile robot. Firstly, the basic principle of the algorithm is introduced based on the reference pattern of non-circulation circumfluence. Secondly, the smooth obstacle-avoidance is put into reality by combining the movement characters of mobile robot and liquid. Finally, the validity of the algorithm is got by simulation test. At the same time, the algorithm can be broadened the research field of mobile robot kinematics.

关键词： mobile robot obstacle-avoidance peripheral flow velocity potential function stream function

作者: Chang-an Liu Zhenhua Wei Chunyang Liu

作者单位: School of Computer Science and Technology North China Electric Power University Beijing, 102206 China

会议类型: 国际会议

会议名称: 2007 IEEE International Conference on Automation and Lofistics

会议地点: 山东济南

会议语种:英文

在线出版日期: 2007-08-18（万方平台首次上网日期，不代表论文的发表时间）