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Velocity potentials and fuzzy modeling of fluid streamlines for obstacle avoidance of mobile robots
Örebro University, School of Science and Technology. (AASS)
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0002-9477-4044
2015 (English)In: 2015 IEEE International Conference on Fuzzy Systems, (FUZZ-IEEE), IEEE Press, 2015, p. 1-8Conference paper, Published paper (Refereed)
Abstract [en]

The use of the velocity potential of an incompressible fluid is an important and elegant tool for obstacle avoidance of mobile robots. Obstacles are modeled as cylindrical objects - combinations of cylinders can also form super obstacles. Possible trajectories of a vehicle are given by a set of streamlines around the obstacle computed by the velocity potential. Because of the number of streamlines and of data points involved therein, models of sets of streamlines for different sizes of obstacles are created first using dataset models and finally fuzzy models of streamlines. Once an obstacle appears in the sensor cone of the robot the set of streamlines is computed from which that streamline is selected that guarantees a smooth transition from/to the planned trajectory. Collisions with other robots are avoided by a combination of velocity potential and force potential and/or the change of streamlines during operation (lane hopping).

Place, publisher, year, edition, pages
IEEE Press, 2015. p. 1-8
Keywords [en]
obstacle avoidance; velocity potential; fuzzy modeling; streamlines
National Category
Robotics
Research subject
Informatics
Identifiers
URN: urn:nbn:se:oru:diva-47940DOI: 10.1109/FUZZ-IEEE.2015.7337800ISI: 000370288300002ISBN: 978-1-4673-7428-6 (print)OAI: oai:DiVA.org:oru-47940DiVA, id: diva2:900506
Conference
2015 IEEE International Conference on Fuzzy Systems, (FUZZ-IEEE) Istanbul, Turkey, August 2-5, 2015
Projects
AIRAvailable from: 2016-02-04 Created: 2016-02-04 Last updated: 2017-10-17Bibliographically approved

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Palm, RainerDriankov, Dimiter

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CiteExportLink to record
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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf