Real-time obstacle avoidance using harmonic potential functions

• Autorzy: Szulczyński P. , Pazderski D. , Kozłowski K.
• Języki publikacji: EN

Abstrakty

EN

The paper presents a solution of motion planning and control of mobile robot in a two-dimensional environment with elliptical static obstacle based on hydrodynamics description. Theoretical background refers to solution of Laplace equation using complex algebra. The method of designing complex potential with respect to stationary elliptical obstacle and stationary goal is formally shown. Next, the planning motion problem is extended assuming that the goal is moving. Then results of motion planning is used in order to design closed-loop control algorithms which is based on decoupling technique. Theoretical considerations are supported by numerical simulations illustrating example results of motion planning and control.

Słowa kluczowe

EN

motion planning; obstacle avoidance; mobile robot; harmonic function

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2011
• Tom: Vol. 5, No. 3
• Strony: 59--66
• Opis fizyczny: Bibliogr. 20 poz., rys.

Twórcy

autor

Szulczyński P.

autor

Pazderski D.

autor

Kozłowski K.

• Chair of Control and Systems Engineering, Poznan University of Technology, ul. Piotrowo 3a, 60-965 Poznan, Poland www:http://etacar.put.poznan.pl/pawel.szulczynski/,

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