Stabilizing Controllers for Landmark Navigation of Planar Robots in an Obstacle-Ridden Workspace

المؤلفون المشاركون

Prasad, Avinesh
Sharma, Bibhya
Vanualailai, Jito
Kumar, Sandeep

المصدر

Journal of Advanced Transportation

العدد

المجلد 2020، العدد 2020 (31 ديسمبر/كانون الأول 2020)، ص ص. 1-13، 13ص.

الناشر

Hindawi Publishing Corporation

تاريخ النشر

2020-12-11

دولة النشر

مصر

عدد الصفحات

13

التخصصات الرئيسية

هندسة مدنية

الملخص EN

This paper essays a new solution to the landmark navigation problem of planar robots in the presence of randomly fixed obstacles through a new dynamic updating rule involving the orientation and steering angle parameters of a robot.

The dynamic updating rule utilizes a first-order nonlinear ordinary differential equation for the changing of landmarks so that whenever a landmark is updated, the path followed by the robot remains continuous and smooth.

This waypoints guidance is via specific landmarks selected from a new set of rules governing the robot’s field of view.

The governing control laws guarantee asymptotic stability of the 2D point robot system.

As an application, the landmark motion planning and control of a car-like mobile robot navigating in the presence of fixed elliptic-shaped obstacles are considered.

The proposed control laws take into account the geometrical constraints imposed on steering angle and guarantee eventual uniform stability of the car-like system.

Computer simulations, using Matlab software, are presented to illustrate the effectiveness of the proposed technique and its stabilizing algorithm.

نمط استشهاد جمعية علماء النفس الأمريكية (APA)

Prasad, Avinesh& Sharma, Bibhya& Vanualailai, Jito& Kumar, Sandeep. 2020. Stabilizing Controllers for Landmark Navigation of Planar Robots in an Obstacle-Ridden Workspace. Journal of Advanced Transportation،Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1180788

نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)

Prasad, Avinesh…[et al.]. Stabilizing Controllers for Landmark Navigation of Planar Robots in an Obstacle-Ridden Workspace. Journal of Advanced Transportation No. 2020 (2020), pp.1-13.
https://search.emarefa.net/detail/BIM-1180788

نمط استشهاد الجمعية الطبية الأمريكية (AMA)

Prasad, Avinesh& Sharma, Bibhya& Vanualailai, Jito& Kumar, Sandeep. Stabilizing Controllers for Landmark Navigation of Planar Robots in an Obstacle-Ridden Workspace. Journal of Advanced Transportation. 2020. Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1180788

نوع البيانات

مقالات

لغة النص

الإنجليزية

الملاحظات

Includes bibliographical references

رقم السجل

BIM-1180788