New navigation function utilizing hydrodynamic potential for mobile robot

2005 ◽  
Author(s):  
S. Akishita ◽  
S. Kawamura ◽  
K. Hayashi
Keyword(s):  
Mobile Robot ◽  
Navigation Function ◽  
Hydrodynamic Potential

scholarly journals Minimum control effort–based path planning and nonlinear guidance for autonomous mobile robots

2018 ◽  
Vol 15 (6) ◽  
pp. 172988141881263 ◽  
Author(s):  
Paul Quillen ◽  
Kamesh Subbarao
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Predictive Control ◽  
Autonomous Mobile Robots ◽  
Autonomous Mobile Robot ◽  
Control Effort ◽  
Control Approach ◽  
Navigation Function ◽  
Guidance Law ◽  
High Level

This article puts forth a framework using model-based techniques for path planning and guidance for an autonomous mobile robot in a constrained environment. The path plan is synthesized using a numerical navigation function algorithm that will form its potential contour levels based on the “minimum control effort.” Then, an improved nonlinear model predictive control approach is employed to generate high-level guidance commands for the mobile robot to track a trajectory fitted along the planned path leading to the goal. A backstepping-like nonlinear guidance law is also implemented for comparison with the NMPC formulation. Finally, the performance of the resulting framework using both nonlinear guidance techniques is verified in simulation where the environment is constrained by the presence of static obstacles.

scholarly journals Set-point Control of Mobile Robot with Obstacle Detection and Avoidance Using Navigation Function - Experimental Verification

2016 ◽  
Vol 85 (3-4) ◽  
pp. 539-552 ◽  
Author(s):  
Wojciech Kowalczyk ◽  
Mateusz Przybyla ◽  
Krzysztof Kozlowski
Keyword(s):  
Mobile Robot ◽  
Experimental Verification ◽  
Control Method ◽  
Laser Scanner ◽  
Obstacle Detection ◽  
Navigation Function ◽  
Mobile Robot Control ◽  
Good Potential ◽  
Point Control ◽  
Robot Position

AbstractThis paper presents the results of an experimental verification of mobile robot control algorithm including obstacle detection and avoidance. The controller is based on the navigation potential function that was proposed in work (Urakubo, Nonlinear Dyn. 81(3), 1475–1487 2015). Conducted experiments considered the task of reaching and stabilization of robot in point. The navigation potential agregates information of robot position and orientation but also the repelling potentials of obstacles. The obstacle detection is performed solely with the use of laser scanner. The experiments show that the method can easily handle environments with one or two obstacles even if they instantly hide or show-up due to the scanner range limits. The experiments also indicate that the utilized control method has a good potential for being used in parallel parking task.

scholarly journals Navigation Function Used for Parallel Parking in Restricted Area by a Differentially-Driven Mobile Robot

2017 ◽  
Vol 50 (1) ◽  
pp. 4312-4317
Author(s):  
Mateusz Przybyła ◽  
Wojciech Kowalczyk ◽  
Krzysztof Kozłowski
Keyword(s):  
Mobile Robot ◽  
Restricted Area ◽  
Parallel Parking ◽  
Navigation Function
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