Reactive Navigation of Nonholonomic Mobile Robots in Dynamic Uncertain Environments with Moving and Deforming Obstacles

被引：0
|
作者：
Matveev, Alexey S. [1 ]
Wang, Chao [2 ]
Savkin, Andrey V. [2 ]
机构：
[1] St Petersburg Univ, Dept Math & Mech, Univ 28, St Petersburg 198504, Russia
[2] Univ New South Wales, Sch Elect Engn & Telecommun, Sydney, NSW 2052, Australia
来源：
PROCEEDINGS OF THE 31ST CHINESE CONTROL CONFERENCE | 2012年
基金：
澳大利亚研究理事会; 俄罗斯基础研究基金会;
关键词：
AVOIDANCE; CURVATURE;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We present a sliding mode based strategy for navigation of a unicycle-like robot to the target through a dynamic environment cluttered with moving and deforming obstacles. The proposed strategy is based on properly switching between moves to the target in straight lines and sliding-mode based bypasses of enroute obstacles via patrolling their borders at a pre-specified distance. The convergence and performance of the obstacle avoidance algorithm is demonstrated via real-life experiments and computer simulations.
引用
收藏
页码：4480 / 4485
页数：6
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