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Stabilizing controllers for landmark navigation of planar robots in an obstacle - ridden workspace

Prasad, Avinesh and Sharma, Bibhya N. and Vanualailai, Jito and Kumar, Sandeep A. (2020) Stabilizing controllers for landmark navigation of planar robots in an obstacle - ridden workspace. Journal of Advanced Transportation, NA . NA. ISSN 0197-6729

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Abstract

This paper essays a new solution to the landmark navigation problem of planar robots in the presence of randomly fixed obstacles through a new dynamic updating rule involving the orientation and steering angle parameters of a robot. The dynamic updating rule utilizes a first-order nonlinear ordinary differential equation for the changing of landmarks so that whenever a landmark is updated, the path followed by the robot remains continuous and smooth. This waypoints guidance is via specific landmarks selected from a new set of rules governing the robot’s field of view. The governing control laws guarantee asymptotic stability of the 2D point robot system. As an application, the landmark motion planning and control of a car-like mobile robot navigating in the presence of fixed elliptic-shaped obstacles are considered. The proposed control laws take into account the geometrical constraints imposed on steering angle and guarantee eventual uniform stability of the car-like system. Computer simulations, using Matlab software, are presented to illustrate the effectiveness of the proposed technique and its stabilizing algorithm.

Item Type: Journal Article
Subjects: Q Science > QA Mathematics
Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Divisions: School of Information Technology, Engineering, Mathematics and Physics (STEMP)
Depositing User: Ms Shalni Sanjana
Date Deposited: 09 Mar 2021 16:12
Last Modified: 28 Jun 2021 15:40
URI: http://repository.usp.ac.fj/id/eprint/12683
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