Standard

Hybrid control for tracking environmental level sets by nonholonomic robots in maze-like environments. / Matveev, A. S.; Nikolaev, M. S.

In: Nonlinear Analysis: Hybrid Systems, Vol. 39, 100982, 01.02.2021.

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

Harvard

Matveev, AS & Nikolaev, MS 2021, 'Hybrid control for tracking environmental level sets by nonholonomic robots in maze-like environments', Nonlinear Analysis: Hybrid Systems, vol. 39, 100982. https://doi.org/10.1016/j.nahs.2020.100982

APA

Matveev, A. S., & Nikolaev, M. S. (2021). Hybrid control for tracking environmental level sets by nonholonomic robots in maze-like environments. Nonlinear Analysis: Hybrid Systems, 39, [100982]. https://doi.org/10.1016/j.nahs.2020.100982

Vancouver

Matveev AS, Nikolaev MS. Hybrid control for tracking environmental level sets by nonholonomic robots in maze-like environments. Nonlinear Analysis: Hybrid Systems. 2021 Feb 1;39. 100982. https://doi.org/10.1016/j.nahs.2020.100982

Author

Matveev, A. S. ; Nikolaev, M. S. / Hybrid control for tracking environmental level sets by nonholonomic robots in maze-like environments. In: Nonlinear Analysis: Hybrid Systems. 2021 ; Vol. 39.

BibTeX

@article{493b2df1929b48bf8edcb26a1d1ed0d9,
title = "Hybrid control for tracking environmental level sets by nonholonomic robots in maze-like environments",
abstract = "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.",
keywords = "Hybrid controller, Nonlinear control, Robot navigation, Sensor based navigation, Tracking environmental boundaries, BOUNDARIES, REACTIVE NAVIGATION, OBSTACLE AVOIDANCE, EXTREMUM SEEKING NAVIGATION",
author = "Matveev, {A. S.} and Nikolaev, {M. S.}",
note = "Funding Information: Work on Section 2?Section 6 of this paper was supported by the Russian Foundation for Basic Research under the grant 17-08-00715, and on the rest of the paper by the Russian Science Foundation under the grant 19-19-00403. Publisher Copyright: {\textcopyright} 2020 Elsevier Ltd Copyright: Copyright 2020 Elsevier B.V., All rights reserved.",
year = "2021",
month = feb,
day = "1",
doi = "10.1016/j.nahs.2020.100982",
language = "English",
volume = "39",
journal = "Nonlinear Analysis: Hybrid Systems",
issn = "1751-570X",
publisher = "Elsevier",

}

RIS

TY - JOUR

T1 - Hybrid control for tracking environmental level sets by nonholonomic robots in maze-like environments

AU - Matveev, A. S.

AU - Nikolaev, M. S.

N1 - Funding Information: Work on Section 2?Section 6 of this paper was supported by the Russian Foundation for Basic Research under the grant 17-08-00715, and on the rest of the paper by the Russian Science Foundation under the grant 19-19-00403. Publisher Copyright: © 2020 Elsevier Ltd Copyright: Copyright 2020 Elsevier B.V., All rights reserved.

PY - 2021/2/1

Y1 - 2021/2/1

N2 - 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.

AB - 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.

KW - Hybrid controller

KW - Nonlinear control

KW - Robot navigation

KW - Sensor based navigation

KW - Tracking environmental boundaries

KW - BOUNDARIES

KW - REACTIVE NAVIGATION

KW - OBSTACLE AVOIDANCE

KW - EXTREMUM SEEKING NAVIGATION

UR - http://www.scopus.com/inward/record.url?scp=85092276610&partnerID=8YFLogxK

UR - https://www.mendeley.com/catalogue/ae186734-f460-3bde-bb64-701d576a4954/

U2 - 10.1016/j.nahs.2020.100982

DO - 10.1016/j.nahs.2020.100982

M3 - Article

AN - SCOPUS:85092276610

VL - 39

JO - Nonlinear Analysis: Hybrid Systems

JF - Nonlinear Analysis: Hybrid Systems

SN - 1751-570X

M1 - 100982

ER -

ID: 71549979