Journal
NONLINEAR ANALYSIS-HYBRID SYSTEMS
Volume 39, Issue -, Pages -Publisher
ELSEVIER SCI LTD
DOI: 10.1016/j.nahs.2020.100982
Keywords
Nonlinear control; Hybrid controller; Robot navigation; Sensor based navigation; Tracking environmental boundaries
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Funding
- Russian Foundation for Basic Research [17-08-00715]
- Russian Science Foundation [19-19-00403]
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This paper presents a hybrid nonlinear navigation law for a non-holonomic constant-speed robot to move in an unknown environment, which does not require estimation of the field gradient and is non-demanding with respect to both computation and motion. The non-local convergence of the proposed algorithm is rigorously justified and confirmed by computer simulation tests.
A non-holonomic constant-speed robot travels in an unknown maze-like environment cluttered with complex obstacles. Through the obstacle-free part of the plane, the robot should autonomously arrive at the isoline where an unknown scalar field assumes a given value. Afterwards, it should track the obstacle-free part of the isoline. The robot has access only to the field value at the current location and the distance from this location to the obstacles. We present a hybrid nonlinear navigation law that solves this mission. The law does not use estimation of the field gradient and is non-demanding with respect to both computation and motion. The non-local convergence of the proposed algorithm is rigorously justified and confirmed by computer simulation tests. (c) 2020 Elsevier Ltd. All rights reserved.
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