Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
Gradient-free navigation of a nonholonomic robot for tracking unsteady environmental boundaries in 3D. / Matveev, Alexey S.; Semakova, Anna A.
2018 22nd International Conference on System Theory, Control and Computing, ICSTCC 2018 - Proceedings. ed. / Razvan Solea; Marian Barbu; Adrian Filipescu. Institute of Electrical and Electronics Engineers Inc., 2018. p. 670-676 8540772 (2018 22nd International Conference on System Theory, Control and Computing, ICSTCC 2018 - Proceedings).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
}
TY - GEN
T1 - Gradient-free navigation of a nonholonomic robot for tracking unsteady environmental boundaries in 3D
AU - Matveev, Alexey S.
AU - Semakova, Anna A.
N1 - Publisher Copyright: © 2018 IEEE.
PY - 2018/11/19
Y1 - 2018/11/19
N2 - An underactuated nonholonomic robot with a bounded control input travels with a constant speed in a 3D workspace. An unknown time variant scalar field is defined on this workspace. The robot should detect, locate, and densely sweep a moving and deforming 2D isosurface (level set), which is the locus of points where the field takes a given value. The sensory data consist of the value of the field at the current location, robot's coordinate along a certain (typically, vertical) space direction, and the orientation of this direction relative to the robot. We offer a new navigation law under which the robot reaches the targeted isosurface from an occasional initial location and then scans the part of this surface in between two given 'altitudes'. This law does not rely on estimation of the field gradient and is undemanding in terms of motion and computation. Its convergence is demonstrated by a mathematically rigorous result and computer simulation tests.
AB - An underactuated nonholonomic robot with a bounded control input travels with a constant speed in a 3D workspace. An unknown time variant scalar field is defined on this workspace. The robot should detect, locate, and densely sweep a moving and deforming 2D isosurface (level set), which is the locus of points where the field takes a given value. The sensory data consist of the value of the field at the current location, robot's coordinate along a certain (typically, vertical) space direction, and the orientation of this direction relative to the robot. We offer a new navigation law under which the robot reaches the targeted isosurface from an occasional initial location and then scans the part of this surface in between two given 'altitudes'. This law does not rely on estimation of the field gradient and is undemanding in terms of motion and computation. Its convergence is demonstrated by a mathematically rigorous result and computer simulation tests.
KW - Mobile robots
KW - sensor based 3D navigation
KW - tracking environmental level sets
UR - http://www.scopus.com/inward/record.url?scp=85059950712&partnerID=8YFLogxK
U2 - 10.1109/ICSTCC.2018.8540772
DO - 10.1109/ICSTCC.2018.8540772
M3 - Conference contribution
AN - SCOPUS:85059950712
T3 - 2018 22nd International Conference on System Theory, Control and Computing, ICSTCC 2018 - Proceedings
SP - 670
EP - 676
BT - 2018 22nd International Conference on System Theory, Control and Computing, ICSTCC 2018 - Proceedings
A2 - Solea, Razvan
A2 - Barbu, Marian
A2 - Filipescu, Adrian
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 22nd International Conference on System Theory, Control and Computing, ICSTCC 2018
Y2 - 10 October 2018 through 12 October 2018
ER -
ID: 99412620