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

A. S. Matveev, M. S. Nikolaev

Результат исследований: Научные публикации в периодических изданияхстатья

Аннотация

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.

Язык оригиналаанглийский
Номер статьи100982
ЖурналNonlinear Analysis: Hybrid Systems
Том39
DOI
СостояниеОпубликовано - фев 2021

Предметные области Scopus

  • Системотехника
  • Анализ
  • Прикладные компьютерные науки

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