PROJECT TITLE :

Fluid Motion Planner for Nonholonomic 3-D Mobile Robots With Kinematic Constraints

ABSTRACT:

Fluid motion planners are a kind of artificial potential field (APF) motion planners that use the differential equations of fluid flow to determine the specified trajectory. The fluid flow approach in motion coming up with will efficiently produce natural-looking trajectories. However, the differential equations employed in previous studies are restricted to motion coming up with in a pair of-D environments. In this paper, the fluid flow approach is extended to a motion coming up with framework for 3-D mobile robots that avoids spheroidal obstacles. Compared with existing APF approaches, kinematic constraints in both speed and curvature also are considered. Possessing the efficiency of two-D fluid motion planners, the proposed approach is in a position to plan natural-trying reference trajectories for nonholonomic 3-D mobile robots. The approach is demonstrated through various three-D example situations. The work can be thought-about as a basic framework for 3-D fluid motion designing, where additional kinematic constraints and more complicated scenarios can be incorporated.