Wheeled mobile robot navigation using proportional navigation

被引：8

作者：

Belkhouche, Fethi ^{[1
]}

Belkhouche, Boumediene ^{[1
]}

机构：

[1] Tulane Univ, Dept Elect Engn & Comp Sci, New Orleans, LA 70118 USA

来源：

ADVANCED ROBOTICS | 2007年 / 21卷 / 3-4期

关键词：

robot navigation; proportional navigation; relative polar kinematics equations;

D O I：

10.1163/156855307780132036

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

We present a method for wheeled mobile robot navigation based on the proportional navigation law. This method integrates the robot's kinematics equations and geometric rules. According to the control strategy, the robot's angular velocity is proportional to the rate of turn of the angle of the line of sight that joins the robot and the goal. We derive a relative kinematics system which models the navigation problem of the robot in polar coordinates. The kinematics model captures the robot path as a function of the control law parameters. It turns out that different paths are obtained for different control parameters. Since the control parameters are real, the number of possible paths is infinite. Results concerning the navigation using our control law are rigorously proven. An extensive simulation confirms our theoretical results.

引用

页码：395 / 420

页数：26

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