Title :
Mobile robots motion control in crowded environments using quasi-harmonic method
Author :
Necsulescu, D. ; Nie, G. ; Sasiadek, J.
Author_Institution :
Dept. of Mech. Eng., Univ. of Ottawa, Ottawa, ON, Canada
Abstract :
Mobile robot motion control with collision avoidance is investigated in this paper for the case of unknown obstacles which are 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 can be separated smoothly from a non-harmonic solution for positioning at a fixed goal.
Keywords :
collision avoidance; mobile robots; motion control; collision avoidance; crowded environment; mobile robot; motion control; quasiharmonic method; quasiharmonic solution; reactive motion; velocity potential field; Collision avoidance; Harmonic analysis; Mathematical model; Robot kinematics; Robot sensing systems; Vectors; Autonomous robots; Collision avoidance; Harmonic functions;
Conference_Titel :
Methods and Models in Automation and Robotics (MMAR), 2014 19th International Conference On
Conference_Location :
Miedzyzdroje
Print_ISBN :
978-1-4799-5082-9
DOI :
10.1109/MMAR.2014.6957434
