DocumentCode :
1611493
Title :
Navigation method for wheeled mobile robot using streamline of complex potential flow
Author :
Rew, Keun-Ho ; Kim, Donghan
Author_Institution :
Dept. of Robotic Eng., Hoseo Univ., Chungnam
fYear :
2008
Firstpage :
2841
Lastpage :
2844
Abstract :
In this paper, new navigation method for wheeled mobile robot using streamline of complex potential flow is proposed. In the past, the potential field method for robot navigation was pointed out that oscillations are inevitable. The authors adopted the streamline as the robot trajectory and show that it makes smaller oscillation than the conventional potential field method. Instead of using velocity obtained from the gradient of potential, following the streamline is easier and shows the less oscillation and better maneuvering in obstacle avoidance. The results from several simulations and experiments show the better performances.
Keywords :
collision avoidance; mobile robots; position control; wheels; Schwartz-Christoffel transformation; complex potential flow streamline; obstacle avoidance; robot trajectory; wheeled mobile robot navigation; Aerospace electronics; Automatic control; Conformal mapping; Control systems; Equations; Mobile robots; Navigation; Orbital robotics; Robotics and automation; Vehicles; Complex Potential Flow; Obstacle Avoidance; Robot Navigation; Stream Line;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control, Automation and Systems, 2008. ICCAS 2008. International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-89-950038-9-3
Electronic_ISBN :
978-89-93215-01-4
Type :
conf
DOI :
10.1109/ICCAS.2008.4694243
Filename :
4694243
Link To Document :
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