DocumentCode :
1529339
Title :
Vector Fields for Robot Navigation Along Time-Varying Curves in n -Dimensions
Author :
Gonçalves, Vinicíus M. ; Pimenta, Luciano C A ; Maia, Carlos A. ; Dutra, Bruno C O ; Pereira, Guilherme A S
Author_Institution :
Escola de Engenharia, Universidade Federal de Minas Gerais (UFMG), Belo Horizonte, Brazil
Volume :
26
Issue :
4
fYear :
2010
Firstpage :
647
Lastpage :
659
Abstract :
This paper presents a methodology for computation of artificial vector fields that allows a robot to converge to and circulate around generic curves specified in n -dimensional spaces. These vector fields may be directly applied to solve several robot-navigation problems such as border monitoring, surveillance, target tracking, and multirobot pattern generation, with special application to fixed-wing aerial robots, which must keep a positive forward velocity and cannot converge to a single point. Unlike previous solutions found in the literature, the approach is based on fully continuous vector fields and is generalized to time-varying curves defined in n -dimensional spaces. We provide mathematical proofs and present simulation and experimental results that illustrate the applicability of the proposed approach. We also present a methodology for construction of the target curve based on a given set of its samples.
Keywords :
Limit cycles; mobile robots; motion control; time-varying systems;
fLanguage :
English
Journal_Title :
Robotics, IEEE Transactions on
Publisher :
ieee
ISSN :
1552-3098
Type :
jour
DOI :
10.1109/TRO.2010.2053077
Filename :
5504176
Link To Document :
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