Title :
On the stability of mobile robot rendezvous
Author :
Rawicz, P.L. ; Kalata, P.R. ; Murphy, K.M.
Author_Institution :
Drexel Univ., Philadelphia, PA, USA
Abstract :
Considers the optimal and suboptimal rendezvous control problem for mobile robot navigation. The optimal rendezvous control problem is derived for one and two dimensional motion, and then used suboptimally in robot motion models. A parametric study of the system response with respect to the time to rendezvous and the first order response time constants of the suboptimal models is conducted. It is found that rendezvous is achieved under the conditions studied
Keywords :
mobile robots; motion control; path planning; stability; suboptimal control; first order response time constants; mobile robot navigation; one dimensional motion; optimal rendezvous control problem; parametric study; robot motion models; suboptimal rendezvous control problem; two dimensional motion; Acceleration; H infinity control; Mobile robots; Motion control; Navigation; Optimal control; Robot kinematics; Robot sensing systems; Stability; Velocity control;
Conference_Titel :
Intelligent Control (ISIC), 1998. Held jointly with IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA), Intelligent Systems and Semiotics (ISAS), Proceedings
Conference_Location :
Gaithersburg, MD
Print_ISBN :
0-7803-4423-5
DOI :
10.1109/ISIC.1998.713735
