Vector Fields for Robot Navigation Along Time-Varying Curves in n-Dimensions

被引：140

作者：

Goncalves, Vinicius M. ^{[1
]}

Pimenta, Luciano C. A. ^{[1
]}

Maia, Carlos A. ^{[1
]}

Dutra, Bruno C. O. ^{[1
]}

Pereira, Guilherme A. S. ^{[1
]}

机构：

[1] Univ Fed Minas Gerais, Escola Engn, BR-31270901 Belo Horizonte, MG, Brazil

来源：

IEEE TRANSACTIONS ON ROBOTICS | 2010年 / 26卷 / 04期

关键词：

Limit cycles; mobile robots; motion control; time-varying systems; MANIPULATORS; MOTION;

D O I：

10.1109/TRO.2010.2053077

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper presents a methodology for computation of artificial vector fields that allows a robot to converge to and circulate around generic curves specified in n-dimensional spaces. These vector fields may be directly applied to solve several robot-navigation problems such as border monitoring, surveillance, target tracking, and multirobot pattern generation, with special application to fixed-wing aerial robots, which must keep a positive forward velocity and cannot converge to a single point. Unlike previous solutions found in the literature, the approach is based on fully continuous vector fields and is generalized to time-varying curves defined in n-dimensional spaces. We provide mathematical proofs and present simulation and experimental results that illustrate the applicability of the proposed approach. We also present a methodology for construction of the target curve based on a given set of its samples.

引用

页码：647 / 659

页数：13

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