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Type: Conference paper
Title: Obstacle avoidance using complex vector fields
Author: Liddy, T.
Lu, T.
Lozo, P.
Harvey, D.
Citation: Proceedings of the 2008 Australasian Conference on Robotics and Automation / Jonghyuk, K. & Mahony, R. (eds.): pp.1-7
Publisher: ARAA
Publisher Place: CD
Issue Date: 2008
ISBN: 9780646506432
Conference Name: Australasian Conference on Robotics and Automation (2008 : Canberra, ACT)
Statement of
Tommie Liddy, Tien-Fu Lu, Peter Lozo, David Harvey
Abstract: Obstacle avoidance is an important part of an autonomous navigation system. One method of obstacle avoidance is the use of simple vector fields. Simple vector fields used for obstacle avoidance consist of a repulsive force centred on the obstacle (obstacle vector field) that guides the vehicle away from the obstacle. This is added directly to an existing vector field (environmental vector field) that guides the vehicle towards the goal to produce a resultant force on a vehicle. This method has been shown to avoid obstacles but does have limitations, the most common of which is that the vehicle can become trapped in a ‘U’ shaped dead end. This study outlines a method of vector field navigation that blends the environmental and obstacle vector fields instead of adding them directly together. The navigation method will also use rotational vector fields for obstacle avoidance instead of repulsive forces. It will be shown that this method can be used for avoiding obstacles as well as evading the ‘U’ shaped or dead end trap.
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Appears in Collections:Aurora harvest
Mechanical Engineering conference papers

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