DOI

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.

Язык оригиналаанглийский
Название основной публикации2019 IEEE 58th Conference on Decision and Control, CDC 2019
ИздательInstitute of Electrical and Electronics Engineers Inc.
Страницы220-225
Число страниц6
ISBN (электронное издание)9781728113982
DOI
СостояниеОпубликовано - дек 2019
Событие58th IEEE Conference on Decision and Control, CDC 2019 - Nice, Франция
Продолжительность: 11 дек 201913 дек 2019

Серия публикаций

НазваниеProceedings of the IEEE Conference on Decision and Control
Том2019-December
ISSN (печатное издание)0743-1546
ISSN (электронное издание)2576-2370

конференция

конференция58th IEEE Conference on Decision and Control, CDC 2019
Страна/TерриторияФранция
ГородNice
Период11/12/1913/12/19

    Предметные области Scopus

  • Системотехника
  • Моделирование и симуляция
  • Теория оптимизации

ID: 98833895