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
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;
Conference_Titel :
Decision and Control (CDC), 2010 49th IEEE Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
978-1-4244-7745-6
DOI :
10.1109/CDC.2010.5717594
