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A method of reactive control for 3D navigation of a nonholonomic robot in tunnel-like environments. / Matveev, Alexey S.; Magerkin, Valentin V.; Savkin, Andrey V.

In: Automatica, Vol. 114, 108831, 04.2020.

Research output: Contribution to journal › Article › peer-review

Harvard

Matveev, AS, Magerkin, VV & Savkin, AV 2020, 'A method of reactive control for 3D navigation of a nonholonomic robot in tunnel-like environments', Automatica, vol. 114, 108831. https://doi.org/10.1016/j.automatica.2020.108831

APA

Matveev, A. S., Magerkin, V. V., & Savkin, A. V. (2020). A method of reactive control for 3D navigation of a nonholonomic robot in tunnel-like environments. Automatica, 114, [108831]. https://doi.org/10.1016/j.automatica.2020.108831

Vancouver

Matveev AS, Magerkin VV, Savkin AV. A method of reactive control for 3D navigation of a nonholonomic robot in tunnel-like environments. Automatica. 2020 Apr;114. 108831. https://doi.org/10.1016/j.automatica.2020.108831

Author

Matveev, Alexey S. ; Magerkin, Valentin V. ; Savkin, Andrey V. / A method of reactive control for 3D navigation of a nonholonomic robot in tunnel-like environments. In: Automatica. 2020 ; Vol. 114.

BibTeX

@article{a3226fb3f73940a282da7343a6c02eed,
title = "A method of reactive control for 3D navigation of a nonholonomic robot in tunnel-like environments",
abstract = "A nonholonomic under-actuated robot with a bounded control range travels inside an unknown and unstructured 3D tunnel bounded by a generic 2D surface. The robot has access to the nearest point of the surface and measures the distance to the surface along any ray from a narrow beam emitted from the robot around the direction to the nearest point. We present a new navigation law that ensures constant advancement of the robot through the tunnel, along with respecting a given safety margin to its surface, driving the robot to the desired distance to it, and subsequently maintaining this distance. This law is reactive: it generates the current control as a reflex-like reaction to the current observation. Rigorous justification of the proposed guidance approach is provided; its applicability and performance are confirmed by computer simulation tests.",
keywords = "Advancement through a tunnel, Robot navigation, Sensor based control, Three-dimensional workspace, DESIGN, IN-PIPE INSPECTION, VEHICLE, AUTONOMOUS EXPLORATION, GUIDANCE",
author = "Matveev, {Alexey S.} and Magerkin, {Valentin V.} and Savkin, {Andrey V.}",
year = "2020",
month = apr,
doi = "10.1016/j.automatica.2020.108831",
language = "English",
volume = "114",
journal = "Automatica",
issn = "0005-1098",
publisher = "Elsevier",

}

RIS

TY - JOUR

T1 - A method of reactive control for 3D navigation of a nonholonomic robot in tunnel-like environments

AU - Matveev, Alexey S.

AU - Magerkin, Valentin V.

AU - Savkin, Andrey V.

PY - 2020/4

Y1 - 2020/4

N2 - A nonholonomic under-actuated robot with a bounded control range travels inside an unknown and unstructured 3D tunnel bounded by a generic 2D surface. The robot has access to the nearest point of the surface and measures the distance to the surface along any ray from a narrow beam emitted from the robot around the direction to the nearest point. We present a new navigation law that ensures constant advancement of the robot through the tunnel, along with respecting a given safety margin to its surface, driving the robot to the desired distance to it, and subsequently maintaining this distance. This law is reactive: it generates the current control as a reflex-like reaction to the current observation. Rigorous justification of the proposed guidance approach is provided; its applicability and performance are confirmed by computer simulation tests.

AB - A nonholonomic under-actuated robot with a bounded control range travels inside an unknown and unstructured 3D tunnel bounded by a generic 2D surface. The robot has access to the nearest point of the surface and measures the distance to the surface along any ray from a narrow beam emitted from the robot around the direction to the nearest point. We present a new navigation law that ensures constant advancement of the robot through the tunnel, along with respecting a given safety margin to its surface, driving the robot to the desired distance to it, and subsequently maintaining this distance. This law is reactive: it generates the current control as a reflex-like reaction to the current observation. Rigorous justification of the proposed guidance approach is provided; its applicability and performance are confirmed by computer simulation tests.

KW - Advancement through a tunnel

KW - Robot navigation

KW - Sensor based control

KW - Three-dimensional workspace

KW - DESIGN

KW - IN-PIPE INSPECTION

KW - VEHICLE

KW - AUTONOMOUS EXPLORATION

KW - GUIDANCE

UR - http://www.scopus.com/inward/record.url?scp=85078431641&partnerID=8YFLogxK

UR - https://www.mendeley.com/catalogue/46a26b94-eaea-3e1b-8d4d-d5806c57de4d/

U2 - 10.1016/j.automatica.2020.108831

DO - 10.1016/j.automatica.2020.108831

M3 - Article

AN - SCOPUS:85078431641

VL - 114

JO - Automatica

JF - Automatica

SN - 0005-1098

M1 - 108831

ER -

ID: 52311449