Nonholonomic robots navigation using linear navigation functions

Fethi Belkhouche

doi:10.1109/ACC.2007.4282143

Nonholonomic robots navigation using linear navigation functions

Fethi Belkhouche

School of Engineering (Behrend)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

12 Scopus citations

Abstract

In this paper we suggest a new navigation strategy for nonholonomic wheeled mobile robots. The method is based on linear navigation functions with exponential and deviation terms. These linear navigation functions are based on the kinematics equations and the geometry of the navigation problem, where the robot's orientation angle is a linear function of the visibility angle. Another control law is suggested for the robot's linear velocity. This approach allows driving the robot from an initial configuration to a desired final configuration. The robot's orientation angle depends on four different parameters that allow to change the robot path in real time. The navigation functions are combined with a collision avoidance algorithm to avoid obstacles. The approach is illustrated using various simulation examples.

Original language	English (US)
Title of host publication	Proceedings of the 2007 American Control Conference, ACC
Pages	5328-5332
Number of pages	5
DOIs	https://doi.org/10.1109/ACC.2007.4282143
State	Published - 2007
Event	2007 American Control Conference, ACC - New York, NY, United States Duration: Jul 9 2007 → Jul 13 2007

Publication series

Name	Proceedings of the American Control Conference
ISSN (Print)	0743-1619

Other

Other	2007 American Control Conference, ACC
Country/Territory	United States
City	New York, NY
Period	7/9/07 → 7/13/07

All Science Journal Classification (ASJC) codes

Electrical and Electronic Engineering

Access to Document

10.1109/ACC.2007.4282143

Cite this

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title = "Nonholonomic robots navigation using linear navigation functions",

abstract = "In this paper we suggest a new navigation strategy for nonholonomic wheeled mobile robots. The method is based on linear navigation functions with exponential and deviation terms. These linear navigation functions are based on the kinematics equations and the geometry of the navigation problem, where the robot's orientation angle is a linear function of the visibility angle. Another control law is suggested for the robot's linear velocity. This approach allows driving the robot from an initial configuration to a desired final configuration. The robot's orientation angle depends on four different parameters that allow to change the robot path in real time. The navigation functions are combined with a collision avoidance algorithm to avoid obstacles. The approach is illustrated using various simulation examples.",

author = "Fethi Belkhouche",

year = "2007",

doi = "10.1109/ACC.2007.4282143",

language = "English (US)",

isbn = "1424409888",

series = "Proceedings of the American Control Conference",

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AB - In this paper we suggest a new navigation strategy for nonholonomic wheeled mobile robots. The method is based on linear navigation functions with exponential and deviation terms. These linear navigation functions are based on the kinematics equations and the geometry of the navigation problem, where the robot's orientation angle is a linear function of the visibility angle. Another control law is suggested for the robot's linear velocity. This approach allows driving the robot from an initial configuration to a desired final configuration. The robot's orientation angle depends on four different parameters that allow to change the robot path in real time. The navigation functions are combined with a collision avoidance algorithm to avoid obstacles. The approach is illustrated using various simulation examples.

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SN - 1424409888

SN - 9781424409884

T3 - Proceedings of the American Control Conference

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BT - Proceedings of the 2007 American Control Conference, ACC

T2 - 2007 American Control Conference, ACC

Y2 - 9 July 2007 through 13 July 2007

ER -

Nonholonomic robots navigation using linear navigation functions

Abstract

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All Science Journal Classification (ASJC) codes

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