Title :
Closed loop navigation for mobile agents in dynamic environments
Author :
Loizou, Savvas G. ; Tanner, Herbert G. ; Kumar, Vijay ; Kyriakopoulos, Kostas J.
Author_Institution :
Control Syst. Lab., Nat. Tech. Univ. of Athens, Greece
Abstract :
We apply a novel motion planning and control methodology, which is based on a non-smooth navigation function, to a point mobile robot moving amongst moving obstacles. The chattering introduced by the discontinuous potential field is suppressed using non-smooth backstepping. The combined controller guarantees global asymptotic convergence and collision avoidance. This controller is particularly suitable for real time implementation on systems with limited computational resources. The effectiveness of the proposed scheme is verified through computer simulations.
Keywords :
collision avoidance; convergence; mobile agents; mobile robots; motion control; navigation; real-time systems; closed loop navigation; collision avoidance; computer simulations; discontinuous potential field; dynamic environments; global asymptotic convergence; mobile agents; mobile robot; motion control; motion planning; moving obstacles; nonsmooth backstepping; nonsmooth navigation function; real time systems; Backstepping; Collision avoidance; Control systems; Convergence; Mobile agents; Mobile robots; Motion control; Motion planning; Navigation; Real time systems;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1249741