scholarly journals Autonomous Navigation and Obstacle Avoidance for a Wheeled Mobile Robots: A Hybrid Approach

2013 ◽  
Vol 81 (7) ◽  
pp. 34-37 ◽  
Author(s):  
Nacer Hacene ◽  
Boubekeur Mendil
Keyword(s):  
Mobile Robots ◽  
Obstacle Avoidance ◽  
Autonomous Navigation ◽  
Hybrid Approach ◽  
Wheeled Mobile Robots

Robustness and Controllability Analysis for Autonomous Navigation of Two-Wheeled Mobile Robots

2007 ◽  
Author(s):  
Alessio Salerno ◽  
Jorge Angeles
Keyword(s):  
Mobile Robots ◽  
Autonomous Navigation ◽  
Autonomous Robots ◽  
Upper Bounds ◽  
Small Time ◽  
Dynamics Model ◽  
Wheeled Mobile Robots ◽  
Rank Condition ◽  
Dynamics Response ◽  
Kalman Rank Condition

This work deals with the robustness and controllability analysis for autonomous navigation of two-wheeled mobile robots. The analysis of controllability of the systems at hand is conducted using both the Kalman rank condition for controllability and the Lie Algebra rank condition. We show that the robots targeted in this work can be controlled using a model for autonomous navigation by means of their dynamics model: kinematics will not be sufficient to completely control these underactuated systems. After having proven that these autonomous robots are small-time locally controllable from every equilibrium point and locally accessible from the remaining points, the uncertainty is modeled resorting to a multiplicative approach. The dynamics response of these robots is analyzed in the frequency domain. Upper bounds for the complex uncertainty are established.

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