Smooth Path Planning around Elliptical Obstacles Using Potential Flow for Non-holonomic Robots

  • Trenthan Owen
  • Rebecca Hillier
  • Darwin Lau
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7416)


In this paper, an efficient path planning method for non-holonomic robots to avoid elliptical obstacles for RoboCup soccer matches is presented. A hydrodynamic flow field is formulated to model obstacles and target locations. Previous research considers the flow about elliptical and plate obstacles as a superposition of multiple flow fields about circular obstacles. The proposed approach utilises the Joukowsky transform to form a path about an elliptical obstacle with a single flow field. It is shown that the resulting motion satisfies C  ∞  continuity at all times, desired for mobile robots. The application of different obstacle shapes in the context of RoboCup soccer matches is also considered and simulated.


non-holonomic mobile robots elliptical obstacles efficient path planning 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Trenthan Owen
    • 1
  • Rebecca Hillier
    • 1
  • Darwin Lau
    • 1
  1. 1.Department of Mechanical EngineeringThe University of MelbourneAustralia

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