Journal
ROBOTICS AND AUTONOMOUS SYSTEMS
Volume 60, Issue 6, Pages 769-788Publisher
ELSEVIER
DOI: 10.1016/j.robot.2012.02.006
Keywords
Real-time navigation; Border patrolling; Guidance; Moving obstacles; Unknown dynamic environment; Nonholonomic under-actuated robots
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We present a sliding mode based strategy for a unicycle-like robot navigation and guidance. The proposed navigation law is applied to the problems of patrolling the border of a moving and deforming domain and reaching a target through a dynamic environment cluttered with moving obstacles. Mathematically rigorous analysis of the proposed approach is provided. The convergence and performance of the algorithm is demonstrated via experiments with real robots and extensive computer simulation. (C) 2012 Elsevier B.V. All rights reserved.
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