Результаты исследований: Публикации в книгах, отчётах, сборниках, трудах конференций › статья в сборнике материалов конференции › научная › Рецензирование
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 оригинала | английский |
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Название основной публикации | 2019 IEEE 58th Conference on Decision and Control, CDC 2019 |
Издатель | Institute of Electrical and Electronics Engineers Inc. |
Страницы | 220-225 |
Число страниц | 6 |
ISBN (электронное издание) | 9781728113982 |
DOI | |
Состояние | Опубликовано - дек 2019 |
Событие | 58th IEEE Conference on Decision and Control, CDC 2019 - Nice, Франция Продолжительность: 11 дек 2019 → 13 дек 2019 |
Название | Proceedings of the IEEE Conference on Decision and Control |
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Том | 2019-December |
ISSN (печатное издание) | 0743-1546 |
ISSN (электронное издание) | 2576-2370 |
конференция | 58th IEEE Conference on Decision and Control, CDC 2019 |
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Страна/Tерритория | Франция |
Город | Nice |
Период | 11/12/19 → 13/12/19 |
ID: 98833895