Reactive Navigation of NonholonomicMobile Robots in Dynamic Uncertain Environments with Moving and Deforming Obstacles

摘要：

We present a sliding mode based strategy for navigation of a unicycle-like robot to the target through a dynamic environment cluttered with moving and deforming obstacles. The proposed strategy is based on properly switching between moves to the target in straight lines and sliding-mode based bypasses of enroute obstacles via patrolling their borders at a pre-specified distance. The convergence and performance of the obstacle avoidance algorithm is demonstrated via real-life experiments and computer simulations.

作者: Alexey S. Matveev Chao Wang Andrey V. Savkin

作者单位: Department of Mathematics and Mechanics, Saint Petersburg University, Universitetskii 28, Petrodvore School of Electrical Engineering and Telecommunications, The University of New South Wales, Sydney 2

会议类型: 国际会议

会议名称: The 31st Chinese Control Conference(第三十一届中国控制会议)

会议地点: 合肥

会议语种:英文

页码: 4480-4485

在线出版日期: 2012-07-01（万方平台首次上网日期，不代表论文的发表时间）