Research output: Contribution to journal › Article › peer-review
A non-holonomic constant-speed robot travels in an unknown maze-like environment cluttered with complex obstacles. Through the obstacle-free part of the plane, the robot should autonomously arrive at the isoline where an unknown scalar field assumes a given value. Afterwards, it should track the obstacle-free part of the isoline. The robot has access only to the field value at the current location and the distance from this location to the obstacles. We present a hybrid nonlinear navigation law that solves this mission. The law does not use estimation of the field gradient and is non-demanding with respect to both computation and motion. The non-local convergence of the proposed algorithm is rigorously justified and confirmed by computer simulation tests.
Original language | English |
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Article number | 100982 |
Number of pages | 20 |
Journal | Nonlinear Analysis: Hybrid Systems |
Volume | 39 |
DOIs | |
State | Published - 1 Feb 2021 |
ID: 71549979