Reactive Navigation of Nonholonomic Mobile Robots in Dynamic Uncertain Environments with Moving and Deforming Obstacles

被引：0

作者：

Matveev, Alexey S. ^{[1
]}

Wang, Chao ^{[2
]}

Savkin, Andrey V. ^{[2
]}

机构：

[1] St Petersburg Univ, Dept Math & Mech, Univ 28, St Petersburg 198504, Russia

[2] Univ New South Wales, Sch Elect Engn & Telecommun, Sydney, NSW 2052, Australia

来源：

PROCEEDINGS OF THE 31ST CHINESE CONTROL CONFERENCE | 2012年

基金：

澳大利亚研究理事会; 俄罗斯基础研究基金会;

关键词：

AVOIDANCE; CURVATURE;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We present a sliding mode based strategy for navigation of a unicycle-like robot to the target through a dynamic environment cluttered with moving and deforming obstacles. The proposed strategy is based on properly switching between moves to the target in straight lines and sliding-mode based bypasses of enroute obstacles via patrolling their borders at a pre-specified distance. The convergence and performance of the obstacle avoidance algorithm is demonstrated via real-life experiments and computer simulations.

引用

页码：4480 / 4485

页数：6

共 26 条

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