Dynamic Velocity Field Angle Generation for Obstacle Avoidance in Mobile Robots Using Hydrodynamics

@inproceedings{PrezDArpino2008DynamicVF,
  title={Dynamic Velocity Field Angle Generation for Obstacle Avoidance in Mobile Robots Using Hydrodynamics},
  author={Claudia P{\'e}rez-D'Arpino and Wilfredis Medina Mel{\'e}ndez and Leonardo Ferm{\'i}n-Leon and Jos{\'e} Guzm{\'a}n and Gerardo Fern{\'a}ndez-L{\'o}pez and Juan C. Grieco},
  booktitle={IBERAMIA},
  year={2008}
}
In this work, a strategy for the generation of the angle reference for a Velocity Field Controller is presented. For an arbitrary trajectory given in its parametric form, it is possible to create a desired velocity field, that could be modified if obstacles were detected by an artificial vision system. Velocity fields are composed by vectors that can be expressed in polar form, i.e. Vx = |−→V | ·cos(α) and Vy = |−→V | ·sin(α). In the velocity field generation technique proposed, the problem is… CONTINUE READING

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