DocumentCode
176101
Title
Quasi-harmonic approach to non-holonomic robot motion control with concave obstacles avoidance
Author
Necsulescu, D. ; Nie, G.
Author_Institution
Dept. of Mech. Eng., Univ. of Ottawa, Ottawa, ON, Canada
fYear
2014
fDate
May 31 2014-June 2 2014
Firstpage
2113
Lastpage
2118
Abstract
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.
Keywords
collision avoidance; harmonic analysis; mobile robots; motion control; concave obstacles avoidance; mobile nonholonomic robot; nonholonomic robot motion control; quasi-harmonic approach; Collision avoidance; Harmonic analysis; Mathematical model; Mobile robots; Robot kinematics; Robot sensing systems; Autonomous robots; Collision avoidance; Harmonic functions; Non-holonomic robot;
fLanguage
English
Publisher
ieee
Conference_Titel
Control and Decision Conference (2014 CCDC), The 26th Chinese
Conference_Location
Changsha
Print_ISBN
978-1-4799-3707-3
Type
conf
DOI
10.1109/CCDC.2014.6852516
Filename
6852516
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