{"title":"Quasi-harmonic approach to non-holonomic robot motion control with concave obstacles avoidance","authors":"D. Necsulescu, G. Nie","doi":"10.1109/CCDC.2014.6852516","DOIUrl":null,"url":null,"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.","PeriodicalId":380818,"journal":{"name":"The 26th Chinese Control and Decision Conference (2014 CCDC)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2014-07-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"The 26th Chinese Control and Decision Conference (2014 CCDC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CCDC.2014.6852516","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 2
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.
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