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3D cylindrical obstacle avoidance using the minimum distance technique

Raghuwaiya, Krishna and Vanualailai, Jito and Raj, Jai (2020) 3D cylindrical obstacle avoidance using the minimum distance technique. In: Advances in Computer, Communication and Computational Sciences. Advances in Intelligent Systems and Computing. Springer Nature, Singapore, pp. 199-208. ISBN 978-981-15-4408-8

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Abstract

In this article, we address the motion planning and control problem of a mobile robot, herein considered as a navigating in a workspace with obstacle. We use Lyapunov’s second method to control the motion of the mobile robot. The minimum distance technique, incorporated for the avoidance of the cylindrical obstacle in a 3D space, used for the first time. Here, the minimum distance between the center of the point mass, representing a mobile robot, and the surface of the cylinder is calculated; thus, only the avoidance of a point on the surface of the cylinder is considered. We propose a set of artificial potential field functions that can be used for the avoidance of the cylindrical obstacle, and for the attraction to the assigned target. The effectiveness of the suggested robust, continuous, nonlinear control inputs is verified numerically via a computer simulation.

Item Type: Book Chapter
Subjects: Q Science > QA Mathematics
Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Divisions: Faculty of Arts, Law and Education (FALE) > School of Education
Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences
Depositing User: Ms Shalni Sanjana
Date Deposited: 22 Dec 2020 15:22
Last Modified: 22 Dec 2020 15:22
URI: http://repository.usp.ac.fj/id/eprint/12505
UNSPECIFIED

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