Standard

Provable Reactive Navigation of Mobile Robots to a Moving Target in Unpredictable Dynamic Scenes. / Nikolaev, M. S.; Matveev, A. S.

2019 IEEE 58th Conference on Decision and Control, CDC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 220-225 9029995 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2019-December).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Research › peer-review

Harvard

Nikolaev, MS & Matveev, AS 2019, Provable Reactive Navigation of Mobile Robots to a Moving Target in Unpredictable Dynamic Scenes. in 2019 IEEE 58th Conference on Decision and Control, CDC 2019., 9029995, Proceedings of the IEEE Conference on Decision and Control, vol. 2019-December, Institute of Electrical and Electronics Engineers Inc., pp. 220-225, 58th IEEE Conference on Decision and Control, CDC 2019, Nice, France, 11/12/19. https://doi.org/10.1109/CDC40024.2019.9029995

APA

Nikolaev, M. S., & Matveev, A. S. (2019). Provable Reactive Navigation of Mobile Robots to a Moving Target in Unpredictable Dynamic Scenes. In 2019 IEEE 58th Conference on Decision and Control, CDC 2019 (pp. 220-225). [9029995] (Proceedings of the IEEE Conference on Decision and Control; Vol. 2019-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC40024.2019.9029995

Vancouver

Nikolaev MS, Matveev AS. Provable Reactive Navigation of Mobile Robots to a Moving Target in Unpredictable Dynamic Scenes. In 2019 IEEE 58th Conference on Decision and Control, CDC 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 220-225. 9029995. (Proceedings of the IEEE Conference on Decision and Control). https://doi.org/10.1109/CDC40024.2019.9029995

Author

Nikolaev, M. S. ; Matveev, A. S. / Provable Reactive Navigation of Mobile Robots to a Moving Target in Unpredictable Dynamic Scenes. 2019 IEEE 58th Conference on Decision and Control, CDC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 220-225 (Proceedings of the IEEE Conference on Decision and Control).

BibTeX

@inproceedings{093a0c15896f4aa78b30cc2961f0214b,
title = "Provable Reactive Navigation of Mobile Robots to a Moving Target in Unpredictable Dynamic Scenes",
abstract = "A speed-limited robot travels in a dynamic environment cluttered with arbitrarily shaped moving obstacles. There also is an unpredictably moving target in the scene. The robot measures the heading angle to the target and the distance to the nearest obstacle along any ray emitted from the robot. A simple reactive navigation strategy is presented that autonomously drives the robot to the target in a finite time provided that the algorithm is properly tuned. This is shown via a mathematically rigorous global convergence result under minor and partly unavoidable technical assumptions. Feasible closed-form recommendations on controller tuning are offered. Theoretical results are confirmed by computer simulation tests.",
author = "Nikolaev, {M. S.} and Matveev, {A. S.}",
note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 58th IEEE Conference on Decision and Control, CDC 2019 ; Conference date: 11-12-2019 Through 13-12-2019",
year = "2019",
month = dec,
doi = "10.1109/CDC40024.2019.9029995",
language = "English",
series = "Proceedings of the IEEE Conference on Decision and Control",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "220--225",
booktitle = "2019 IEEE 58th Conference on Decision and Control, CDC 2019",
address = "United States",

}

RIS

TY - GEN

T1 - Provable Reactive Navigation of Mobile Robots to a Moving Target in Unpredictable Dynamic Scenes

AU - Nikolaev, M. S.

AU - Matveev, A. S.

N1 - Publisher Copyright: © 2019 IEEE.

PY - 2019/12

Y1 - 2019/12

N2 - A speed-limited robot travels in a dynamic environment cluttered with arbitrarily shaped moving obstacles. There also is an unpredictably moving target in the scene. The robot measures the heading angle to the target and the distance to the nearest obstacle along any ray emitted from the robot. A simple reactive navigation strategy is presented that autonomously drives the robot to the target in a finite time provided that the algorithm is properly tuned. This is shown via a mathematically rigorous global convergence result under minor and partly unavoidable technical assumptions. Feasible closed-form recommendations on controller tuning are offered. Theoretical results are confirmed by computer simulation tests.

AB - A speed-limited robot travels in a dynamic environment cluttered with arbitrarily shaped moving obstacles. There also is an unpredictably moving target in the scene. The robot measures the heading angle to the target and the distance to the nearest obstacle along any ray emitted from the robot. A simple reactive navigation strategy is presented that autonomously drives the robot to the target in a finite time provided that the algorithm is properly tuned. This is shown via a mathematically rigorous global convergence result under minor and partly unavoidable technical assumptions. Feasible closed-form recommendations on controller tuning are offered. Theoretical results are confirmed by computer simulation tests.

UR - http://www.scopus.com/inward/record.url?scp=85082436690&partnerID=8YFLogxK

U2 - 10.1109/CDC40024.2019.9029995

DO - 10.1109/CDC40024.2019.9029995

M3 - Conference contribution

AN - SCOPUS:85082436690

T3 - Proceedings of the IEEE Conference on Decision and Control

SP - 220

EP - 225

BT - 2019 IEEE 58th Conference on Decision and Control, CDC 2019

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 58th IEEE Conference on Decision and Control, CDC 2019

Y2 - 11 December 2019 through 13 December 2019

ER -

ID: 98833895