Stabilizing Controllers for Landmark Navigation of Planar Robots in an Obstacle-Ridden Workspace
Joint Authors
Prasad, Avinesh
Sharma, Bibhya
Vanualailai, Jito
Kumar, Sandeep
Source
Journal of Advanced Transportation
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-12-11
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract 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.
American Psychological Association (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
Modern Language Association (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
American Medical Association (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
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1180788