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Reactive Control Technology for 3D Navigation of Nonholonomic Robots in Tunnel-Like Environments Based on Limited Sensory Data. / Матвеев, Алексей Серафимович; Магеркин, Валентин Вячеславович; Савкин, Андрей.

MED 2018 - 26th Mediterranean Conference on Control and Automation. 2018. p. 143-148 8442953 (MED 2018 - 26th Mediterranean Conference on Control and Automation).

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

Harvard

Матвеев, АС, Магеркин, ВВ & Савкин, А 2018, Reactive Control Technology for 3D Navigation of Nonholonomic Robots in Tunnel-Like Environments Based on Limited Sensory Data. in MED 2018 - 26th Mediterranean Conference on Control and Automation., 8442953, MED 2018 - 26th Mediterranean Conference on Control and Automation, pp. 143-148, 26th Mediterranean Conference on Control and Automation, Zadar, Croatia, 19/06/18. https://doi.org/10.1109/MED.2018.8442953

APA

Матвеев, А. С., Магеркин, В. В., & Савкин, А. (2018). Reactive Control Technology for 3D Navigation of Nonholonomic Robots in Tunnel-Like Environments Based on Limited Sensory Data. In MED 2018 - 26th Mediterranean Conference on Control and Automation (pp. 143-148). [8442953] (MED 2018 - 26th Mediterranean Conference on Control and Automation). https://doi.org/10.1109/MED.2018.8442953

Vancouver

Матвеев АС, Магеркин ВВ, Савкин А. Reactive Control Technology for 3D Navigation of Nonholonomic Robots in Tunnel-Like Environments Based on Limited Sensory Data. In MED 2018 - 26th Mediterranean Conference on Control and Automation. 2018. p. 143-148. 8442953. (MED 2018 - 26th Mediterranean Conference on Control and Automation). https://doi.org/10.1109/MED.2018.8442953

Author

Матвеев, Алексей Серафимович ; Магеркин, Валентин Вячеславович ; Савкин, Андрей. / Reactive Control Technology for 3D Navigation of Nonholonomic Robots in Tunnel-Like Environments Based on Limited Sensory Data. MED 2018 - 26th Mediterranean Conference on Control and Automation. 2018. pp. 143-148 (MED 2018 - 26th Mediterranean Conference on Control and Automation).

BibTeX

@inproceedings{a1b9c08c730c430cb5004055b9b28fa0,
title = "Reactive Control Technology for 3D Navigation of Nonholonomic Robots in Tunnel-Like Environments Based on Limited Sensory Data",
abstract = "A constant-speed nonholonomic robot should pass through an unstructured and unknown 3D tunnel-like cave environment. The sensors provide information about the nearest point of tunnel's surface and the distance to the surface along any ray going from the robot at an upper-limited angle with respect to the direction toward the nearest point. A new navigation law is presented that solves the mission, respects a given safety margin to the surface, drives the robot to the pre-specified distance to it, and then maintains this distance. This law generates the control as a reflex-like reaction to the current observation. Mathematically rigorous justification of this law is provided; its applicability is confirmed by computer simulation tests.",
author = "Матвеев, {Алексей Серафимович} and Магеркин, {Валентин Вячеславович} and Андрей Савкин",
note = "Funding Information: *This work was supported by the Australian Research Council, and by the Russian Science Foundation, project 14-21-00041p.; 26th Mediterranean Conference on Control and Automation, MED 2018 ; Conference date: 19-06-2018 Through 22-06-2018",
year = "2018",
month = aug,
day = "20",
doi = "10.1109/MED.2018.8442953",
language = "English",
isbn = " 978-153867890-9",
series = "MED 2018 - 26th Mediterranean Conference on Control and Automation",
pages = "143--148",
booktitle = "MED 2018 - 26th Mediterranean Conference on Control and Automation",

}

RIS

TY - GEN

T1 - Reactive Control Technology for 3D Navigation of Nonholonomic Robots in Tunnel-Like Environments Based on Limited Sensory Data

AU - Матвеев, Алексей Серафимович

AU - Магеркин, Валентин Вячеславович

AU - Савкин, Андрей

N1 - Funding Information: *This work was supported by the Australian Research Council, and by the Russian Science Foundation, project 14-21-00041p.

PY - 2018/8/20

Y1 - 2018/8/20

N2 - A constant-speed nonholonomic robot should pass through an unstructured and unknown 3D tunnel-like cave environment. The sensors provide information about the nearest point of tunnel's surface and the distance to the surface along any ray going from the robot at an upper-limited angle with respect to the direction toward the nearest point. A new navigation law is presented that solves the mission, respects a given safety margin to the surface, drives the robot to the pre-specified distance to it, and then maintains this distance. This law generates the control as a reflex-like reaction to the current observation. Mathematically rigorous justification of this law is provided; its applicability is confirmed by computer simulation tests.

AB - A constant-speed nonholonomic robot should pass through an unstructured and unknown 3D tunnel-like cave environment. The sensors provide information about the nearest point of tunnel's surface and the distance to the surface along any ray going from the robot at an upper-limited angle with respect to the direction toward the nearest point. A new navigation law is presented that solves the mission, respects a given safety margin to the surface, drives the robot to the pre-specified distance to it, and then maintains this distance. This law generates the control as a reflex-like reaction to the current observation. Mathematically rigorous justification of this law is provided; its applicability is confirmed by computer simulation tests.

UR - http://www.scopus.com/inward/record.url?scp=85053459358&partnerID=8YFLogxK

U2 - 10.1109/MED.2018.8442953

DO - 10.1109/MED.2018.8442953

M3 - Conference contribution

SN - 978-153867890-9

T3 - MED 2018 - 26th Mediterranean Conference on Control and Automation

SP - 143

EP - 148

BT - MED 2018 - 26th Mediterranean Conference on Control and Automation

T2 - 26th Mediterranean Conference on Control and Automation

Y2 - 19 June 2018 through 22 June 2018

ER -

ID: 36615200