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

  • Authors:

  • Claudia Pérez-D'Arpino;Wilfredis Medina-Meléndez;Leonardo Fermín;José Guzmán;Gerardo Fernández-López;Juan Carlos Grieco

  • Affiliations:

  • Mechatronics Group, Simon Bolivar University, Miranda, Venezuela 1080-A;Mechatronics Group, Simon Bolivar University, Miranda, Venezuela 1080-A;Mechatronics Group, Simon Bolivar University, Miranda, Venezuela 1080-A;Mechatronics Group, Simon Bolivar University, Miranda, Venezuela 1080-A;Mechatronics Group, Simon Bolivar University, Miranda, Venezuela 1080-A;Mechatronics Group, Simon Bolivar University, Miranda, Venezuela 1080-A

  • Venue:
  • IBERAMIA '08 Proceedings of the 11th Ibero-American conference on AI: Advances in Artificial Intelligence
  • Year:
  • 2008

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Abstract

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. $V_x=|\overrightarrow{V}|\cdot\cos(\alpha)$ and $V_y=|\overrightarrow{V}|\cdot\sin(\alpha)$. In the velocity field generation technique proposed, the problem is divided into two separate problems: the calculation of the orientation angle αand the calculation of the linear velocity $|\overrightarrow V|$. This paper addresses the calculation of 茂戮驴, using the hydrodynamics theory of an incompressible non-viscous fluid, plus the use of conformal mapping, thus generating a trajectory vector field that can evade obstacles. Results obtained show that a smooth and continuous field for both open and closed trajectories is achieved.