Title :

Finite-Time Obstacle Avoidance for Unicycle-like robot Subject to Additive Input Disturbances

Author(s) :

Guerra, Matteo [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Efimov, Denis [Auteur]
Non-Asymptotic estimation for online systems [NON-A]
Zheng, Gang [Auteur]
Non-Asymptotic estimation for online systems [NON-A]
Perruquetti, Wilfrid [Auteur]
Non-Asymptotic estimation for online systems [NON-A]

Journal title :

Autonomous Robots

Publisher :

Springer Verlag

Publication date :

2015-12-11

ISSN :

0929-5593

English keyword(s) :

Collision Avoidance
Obstacle Avoidance
Supervisory Control
Local Planner
Switching Instant

HAL domain(s) :

Sciences de l'ingénieur [physics]/Automatique / Robotique

English abstract : [en]

The problem of avoiding obstacles while navigating within an environment for a Unicycle-like Wheeled Mobile Robot (WMR) is of prime importance in robotics; the aim of this work is to solve such a problem proposing a perturbed ...
Show more >The problem of avoiding obstacles while navigating within an environment for a Unicycle-like Wheeled Mobile Robot (WMR) is of prime importance in robotics; the aim of this work is to solve such a problem proposing a perturbed version of the standard kinematic model able to compensate for the neglected dynamics of the robot. The disturbances are considered additive on the inputs and the solution is based on the supervisory control framework, finite-time stability and a robust multi-output regulation. The effectiveness of the solution is proved, supported by experiments and finally compared with the Dynamic Window Approach (DWA) to show how the proposed method can perform better than standard methods.Show less >

Language :

Anglais

Popular science :

Non

Collections :

• Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL