DocumentCode
2575129
Title
Range-sensor based navigation of a unicycle-like mobile robot in cluttered environments
Author
Matveev, Alexey S. ; Teimoori, Hamid ; Savkin, Andrey V.
Author_Institution
Dept. of Math. & Mech., St. Petersburg Univ., St. Petersburg, Russia
fYear
2010
fDate
15-17 Dec. 2010
Firstpage
7184
Lastpage
7189
Abstract
We consider the problem of navigation of a Dubins-like robot towards a target in cluttered environments. Only the distance to the enroute obstacles is available to the controller. We introduce a new sliding mode control method for the safe navigation and present its mathematically rigorous analysis. The effectiveness of the proposed guidance law is confirmed by illustrative examples and computer simulations.
Keywords
collision avoidance; mobile robots; variable structure systems; cluttered environment; dubins like robot; enroute obstacle; range sensor based navigation; safe navigation; sliding mode control method; unicycle like mobile robot; Navigation; Robot sensing systems; Safety; Switches; Trajectory; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control (CDC), 2010 49th IEEE Conference on
Conference_Location
Atlanta, GA
ISSN
0743-1546
Print_ISBN
978-1-4244-7745-6
Type
conf
DOI
10.1109/CDC.2010.5717594
Filename
5717594
Link To Document