TY - GEN
T1 - Tracking under the nonholonomic constraint using cubic navigation laws
AU - Vargas, J.
AU - Mendez, S.
AU - Belkhouche, F.
PY - 2009
Y1 - 2009
N2 - This paper deals with the problem of mobile robot tracking an unpredictably moving target in the presence of obstacles.We suggest a new family of navigation laws that consists of cubic navigation functions. These laws depend on various external parameters that can be used to adjust the robot's path, especially to avoid collision with obstacles. The suggested method allows an easy combination between the global aspects of target tracking and the local aspects of obstacle avoidance. A method is suggested to tune and adjust the parameters of the navigation laws and derive a locally optimal path. The method is illustrated using an extensive simulation.
AB - This paper deals with the problem of mobile robot tracking an unpredictably moving target in the presence of obstacles.We suggest a new family of navigation laws that consists of cubic navigation functions. These laws depend on various external parameters that can be used to adjust the robot's path, especially to avoid collision with obstacles. The suggested method allows an easy combination between the global aspects of target tracking and the local aspects of obstacle avoidance. A method is suggested to tune and adjust the parameters of the navigation laws and derive a locally optimal path. The method is illustrated using an extensive simulation.
UR - http://www.scopus.com/inward/record.url?scp=74849126528&partnerID=8YFLogxK
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U2 - 10.1109/ICSMC.2009.5346587
DO - 10.1109/ICSMC.2009.5346587
M3 - Conference contribution
AN - SCOPUS:74849126528
SN - 9781424427949
T3 - Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
SP - 2788
EP - 2793
BT - Proceedings 2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009
T2 - 2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009
Y2 - 11 October 2009 through 14 October 2009
ER -