Title :
A modified, hybrid, PDE-ODE controller with integrated directional and region avoidance constraints
Author :
Masoud, Ahmad A. ; Masoud, Samer A.
Author_Institution :
Unit 12A, 71 Brock St., Kingston, Ont., Canada
Abstract :
This paper extends the capabilities of the evolutionary, hybrid PDE-ODE controller (EHPC) that is suggested previously by the authors (1998) for navigating in an unknown, multidimensional, stationary environment. This is accomplished by modifying the hybrid, PDE-ODE controller used in constructing the EHPC so that it can incorporate directional requirements among the set of constraints it is enforcing. Theoretical developments along with simulation results are provided
Keywords :
mobile robots; navigation; partial differential equations; path planning; directional avoidance; hybrid PDE-ODE controller; mobile robots; motion planning; navigation; partial differential equation; path planning; region avoidance; Actuators; Anisotropic magnetoresistance; Artificial intelligence; Convergence; Distributed control; Geometry; Motion control; Multidimensional systems; Navigation; Roads;
Conference_Titel :
Decision and Control, 1998. Proceedings of the 37th IEEE Conference on
Conference_Location :
Tampa, FL
Print_ISBN :
0-7803-4394-8
DOI :
10.1109/CDC.1998.758626
