TY - GEN

T1 - Nonholonomic robots navigation using linear navigation functions

AU - Belkhouche, Fethi

N1 - Copyright:
Copyright 2011 Elsevier B.V., All rights reserved.

PY - 2007

Y1 - 2007

N2 - 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.

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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U2 - 10.1109/ACC.2007.4282143

DO - 10.1109/ACC.2007.4282143

M3 - Conference contribution

AN - SCOPUS:46449136060

SN - 1424409888

SN - 9781424409884

T3 - Proceedings of the American Control Conference

SP - 5328

EP - 5332

BT - Proceedings of the 2007 American Control Conference, ACC

T2 - 2007 American Control Conference, ACC

Y2 - 9 July 2007 through 13 July 2007

ER -