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Reactive Autonomous Navigation of Nonholonomic Robots for Tracking Environmental Boundaries in Presence of Obstacles. / Matveev, A. S.; Nikolaev, M. S.

European Control Conference 2020, ECC 2020. Institute of Electrical and Electronics Engineers Inc., 2020. p. 1897-1902 9143725 (European Control Conference 2020, ECC 2020).

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

Harvard

Matveev, AS & Nikolaev, MS 2020, Reactive Autonomous Navigation of Nonholonomic Robots for Tracking Environmental Boundaries in Presence of Obstacles. in European Control Conference 2020, ECC 2020., 9143725, European Control Conference 2020, ECC 2020, Institute of Electrical and Electronics Engineers Inc., pp. 1897-1902, 19th European Control Conference, ECC 2020, Saint Petersburg, Russian Federation, 12/05/20.

APA

Matveev, A. S., & Nikolaev, M. S. (2020). Reactive Autonomous Navigation of Nonholonomic Robots for Tracking Environmental Boundaries in Presence of Obstacles. In European Control Conference 2020, ECC 2020 (pp. 1897-1902). [9143725] (European Control Conference 2020, ECC 2020). Institute of Electrical and Electronics Engineers Inc..

Vancouver

Matveev AS, Nikolaev MS. Reactive Autonomous Navigation of Nonholonomic Robots for Tracking Environmental Boundaries in Presence of Obstacles. In European Control Conference 2020, ECC 2020. Institute of Electrical and Electronics Engineers Inc. 2020. p. 1897-1902. 9143725. (European Control Conference 2020, ECC 2020).

Author

Matveev, A. S. ; Nikolaev, M. S. / Reactive Autonomous Navigation of Nonholonomic Robots for Tracking Environmental Boundaries in Presence of Obstacles. European Control Conference 2020, ECC 2020. Institute of Electrical and Electronics Engineers Inc., 2020. pp. 1897-1902 (European Control Conference 2020, ECC 2020).

BibTeX

@inproceedings{94a3589f200741a99dbb29b4c001d205,
title = "Reactive Autonomous Navigation of Nonholonomic Robots for Tracking Environmental Boundaries in Presence of Obstacles",
abstract = "A non-holonomic robot travels with a constant speed in an unknown planar scene populated with arbitrarily shaped obstacles. There is an unknown scalar field in the plane. The robot measures only the (minimum) distance to the obstacles and the field value. We present a novel navigation law that drives the robot through the obstacles-free part of the plane to the curve (isoline) where the field assumes a pre-specified value, and then ensures tracking of the obstacles-free part of the isoline. This law does not attempt on estimation of the field gradient and is non-demanding with respect to computation and motion, exhibiting a fairly regular behavior. The performance of this law is justified by a rigorous global convergence result and is confirmed by computer simulations.",
author = "Matveev, {A. S.} and Nikolaev, {M. S.}",
note = "Funding Information: ACKNOWLEDGEMENT This work is supported by the Russian Foundation for Basic Research under the grant 17-08-00715. Publisher Copyright: {\textcopyright} 2020 EUCA. Copyright: Copyright 2020 Elsevier B.V., All rights reserved.; 19th European Control Conference, ECC 2020 ; Conference date: 12-05-2020 Through 15-05-2020",
year = "2020",
month = may,
language = "English",
series = "European Control Conference 2020, ECC 2020",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1897--1902",
booktitle = "European Control Conference 2020, ECC 2020",
address = "United States",
url = "https://ecc20.eu/",

}

RIS

TY - GEN

T1 - Reactive Autonomous Navigation of Nonholonomic Robots for Tracking Environmental Boundaries in Presence of Obstacles

AU - Matveev, A. S.

AU - Nikolaev, M. S.

N1 - Funding Information: ACKNOWLEDGEMENT This work is supported by the Russian Foundation for Basic Research under the grant 17-08-00715. Publisher Copyright: © 2020 EUCA. Copyright: Copyright 2020 Elsevier B.V., All rights reserved.

PY - 2020/5

Y1 - 2020/5

N2 - A non-holonomic robot travels with a constant speed in an unknown planar scene populated with arbitrarily shaped obstacles. There is an unknown scalar field in the plane. The robot measures only the (minimum) distance to the obstacles and the field value. We present a novel navigation law that drives the robot through the obstacles-free part of the plane to the curve (isoline) where the field assumes a pre-specified value, and then ensures tracking of the obstacles-free part of the isoline. This law does not attempt on estimation of the field gradient and is non-demanding with respect to computation and motion, exhibiting a fairly regular behavior. The performance of this law is justified by a rigorous global convergence result and is confirmed by computer simulations.

AB - A non-holonomic robot travels with a constant speed in an unknown planar scene populated with arbitrarily shaped obstacles. There is an unknown scalar field in the plane. The robot measures only the (minimum) distance to the obstacles and the field value. We present a novel navigation law that drives the robot through the obstacles-free part of the plane to the curve (isoline) where the field assumes a pre-specified value, and then ensures tracking of the obstacles-free part of the isoline. This law does not attempt on estimation of the field gradient and is non-demanding with respect to computation and motion, exhibiting a fairly regular behavior. The performance of this law is justified by a rigorous global convergence result and is confirmed by computer simulations.

UR - http://www.scopus.com/inward/record.url?scp=85090120936&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:85090120936

T3 - European Control Conference 2020, ECC 2020

SP - 1897

EP - 1902

BT - European Control Conference 2020, ECC 2020

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 19th European Control Conference, ECC 2020

Y2 - 12 May 2020 through 15 May 2020

ER -

ID: 71550304