Quasi-harmonic Approach to Non-holonomic Robot Motion Control with Concave Obstacles Avoidance
Mobile non-holonomic robot motion control with collision avoidance is investigated in this paper for the case of unknown concave obstacles locally sensed.Motion control achieves in this case a reactive motion using velocity potential fields approach in a modified,quasi-harmonic,solution.Analytical solutions and simulations show how the harmonic solution for collision avoidance with concave obstacles can be separated smoothly from a non-harmonic solution for positioning.
Autonomous robots Harmonic functions Collision avoidance Non-holonomic robot
D.Necsulescu G.Nie
Department of Mechanical Engineering,University of Ottawa,Ottawa K1N6N5,Canada
国际会议
长沙
英文
2113-2118
2014-05-31（万方平台首次上网日期，不代表论文的发表时间）