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

Pérez-D’Arpino, Claudia; Medina-Melendez, Wilfredis; Fermín, Leonardo; Guzmán, José Luís; Fernández-López, Gerardo; Grieco, Juan C.

doi:10.1007/978-3-540-88309-8_38

Cited by 4 publications

(6 citation statements)

References 11 publications

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“…In this paper the system have been tested using fields obtained by the algorithm presented in [14], whereas the FIS is able to work with others velocity fields, independently of its generation algorithms.…”

Section: Discussionmentioning

confidence: 99%

“…An algorithm that can be used in the generation of this Target Trajectory Field was developed in [14]. A summary of this algorithm is shown in Fig.…”

Section: Overview Of the Proposed Algorithmmentioning

confidence: 99%

“…In a previous work [14], it was presented a strategy based on hydrodynamics and conformal mapping for the generation of 978-1-4244-4195-2/09/$25.00 (c) 2009 IEEE the angle component of the velocity field, obtaining a velocity field that encodes a given task for the mobile robot. The present paper addresses the generation of the corresponding speed component, through a Fuzzy Inference System.…”

Section: Introductionmentioning

confidence: 99%

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Fuzzy logic based speed planning for autonomous navigation under Velocity Field Control

Pérez-D’Arpino

Medina-Melendez

Guzmán

et al. 2009

2009 IEEE International Conference on Mechatronics

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Velocity fields techniques are often used in the path planning and control problem in autonomous navigation. Velocity fields are compounded by vectors that can be expressed in polar form, i.e. Vx = iVl . cos(n) and Vy = IVI . sin(n). In the proposed technique, the problem is divided into two separate problems: the calculation of the orientation angle n, which was treated in a previous work, and the calculation of the linear velocity IVI. This paper addresses the calculation of IVI given a trajectory vector field that encodes n, thus generating the speed reference for a Velocity Field Controller. The linear velocity I V I is generated through a Mamdani-type Fuzzy Inference System, that considers the curl of the trajectory vector field, and an extension of the Voronoi Diagram. Results obtained in both simulations and tests with a real robot show that an adequate intelligent velocity behavior, and a smooth obstacle avoidance are achieved.

show abstract

Section: Discussionmentioning

confidence: 99%

“…An algorithm that can be used in the generation of this Target Trajectory Field was developed in [14]. A summary of this algorithm is shown in Fig.…”

Section: Overview Of the Proposed Algorithmmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Fuzzy logic based speed planning for autonomous navigation under Velocity Field Control

Pérez-D’Arpino

Medina-Melendez

Guzmán

et al. 2009

2009 IEEE International Conference on Mechatronics

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show abstract

“…With the new state error vectors ( 21) instead ( 16), it is possible to omit the state z 1 in the diffeomorphism z x = T zx x e , then T zx of Equation (17), and in the same way T zy , could be reduced to a 3 × 3 matrix…”

Section: Roll and Pitch Controlmentioning

confidence: 99%

“…For this method, it is necessary to calculate two vector fields, the approaching field and the tangential field. The approaching field is defined by the vectors that aim directly to the trajectory, in which each vector V ac is obtained as the normalized subtraction of the closest point to the trajectory, as proposed by Reference [17]. The trajectory to follow is a circle of radius r tr and the center at the point (o…”

Section: Velocity Fieldmentioning

confidence: 99%

Tracking Control for Quad-Rotor Using Velocity Field and Obstacle Avoidance Based on Hydrodynamics

et al. 2020

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In this work, the problem of navigation control of a quad-rotor, which includes path planning (to a desired trajectory with obstacle avoidance) and tracking control, is addressed. Path planning is achieved by means of the velocity field technique, since this method generates smooth trajectories that are suitable for this kind of vehicles. We propose a recursive method for the composition of the total velocity reference. In order to achieve a good tracking of the generated references, a saturated controller is used, namely, nested saturation. It is demonstrated that the velocity reference can be tracked with a reduction in the order of the controller, from four to three saturators, which simplifies the implementation. Numerical results show that a correct tracking could be guaranteed.

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Systematic Method of Designing and Constructing Velocity Fields for Motion Control

Ruiz-Sanchez

2019

Int. J. Control Autom. Syst.

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

Cited by 4 publications

References 11 publications

Fuzzy logic based speed planning for autonomous navigation under Velocity Field Control

Fuzzy logic based speed planning for autonomous navigation under Velocity Field Control

Tracking Control for Quad-Rotor Using Velocity Field and Obstacle Avoidance Based on Hydrodynamics

Systematic Method of Designing and Constructing Velocity Fields for Motion Control

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