期刊
IEEE ROBOTICS AND AUTOMATION LETTERS
卷 7, 期 2, 页码 3803-3810出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2022.3148466
关键词
Navigation; Robot sensing systems; Robot kinematics; Harmonic analysis; Collision avoidance; Mobile robots; Tuning; Motion and path planning; reactive and sensor-based planning; collision avoidance
类别
资金
- European Union'sHorizon 2020 Research and Innovation Program [824990, 767642]
- Cyprus Research and Innovation Foundation [1216/0365, 1216/0296]
- H2020 Societal Challenges Programme [767642, 824990] Funding Source: H2020 Societal Challenges Programme
This letter extends the theory of mobile robot navigation functions to planar environments populated by unknown obstacles. It introduces on-line tuning of navigation functions based on sensor readings and the robot state. The feedback control law ensures smooth and monotonic approach to the target.
Mobile robot navigation functions provide geometric path planning that can be used to control the physical mobile robot system. This letter extends the theory of mobile robot navigation functions to planar environments populated by unknown obstacles. The robot has knowledge of the environment outer boundary but must use an obstacle sensor with sector-shape footprint during navigation. The letter introduces on-line tuning of navigation functions based on sensor readings of obstacles and the robot state upon detection of new obstacles in the environment. The letter describes a feedback control law that changes its structure according to the current navigation function, with trajectory damping that ensures smooth monotonic approach to the target. The correctness of the navigation controller in terms of obstacle avoidance and arrival to the target is established. In addition to the analytic guarantees, simulation studies describe the robot system state parameters during navigation in an office floor environment populated by unknown obstacles.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据