Title :
A robust control strategy for mobile robots navigation in dynamic environments
Author :
Furci, M. ; Naldi, R. ; Paoli, A. ; Marconi, L.
Author_Institution :
CASY-DEI, Univ. di Bologna, Bologna, Italy
Abstract :
This work introduces a novel control strategy to allow a class of mobile robots to robustly navigate in dynamics and potentially cluttered environments. The proposed approach combines a high-level motion planner and a low-level stabilizing feedback control law designed considering the nonlinear dynamic model of the vehicle. Taking advantage of a symbolic description of the vehicle dynamics and of the environment, the reference trajectories are sequences of elementary primitives which are obtained with a reduced computational cost. However, the resulting references may fail to be functionally controllable for the actual dynamical model of the vehicle. Accordingly, to obtain a desired tracking error, sufficient conditions are then derived by investigating the interconnection between the discrete time planner and the continuous time closed-loop nonlinear system. The effectiveness of the obtained results is demonstrated by considering, as application, a ground robot navigating in a cluttered environment.
Keywords :
closed loop systems; continuous time systems; discrete time systems; feedback; mobile robots; path planning; robot dynamics; robust control; vehicle dynamics; continuous time closed-loop nonlinear system; discrete time planner; dynamic environments; high-level motion planner; low-level stabilizing feedback control law; mobile robots navigation; robust control strategy; sufficient conditions; tracking error; vehicle dynamic symbolic description; vehicle nonlinear dynamic model; Automata; Computational modeling; Planning; Trajectory; Vehicle dynamics; Vehicles;
Conference_Titel :
Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on
Conference_Location :
Los Angeles, CA
Print_ISBN :
978-1-4799-7746-8
DOI :
10.1109/CDC.2014.7039463