Finite-Time Obstacle Avoidance for ...
Type de document :
Compte-rendu et recension critique d'ouvrage
Titre :
Finite-Time Obstacle Avoidance for Unicycle-like robot Subject to Additive Input Disturbances
Auteur(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]
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]
Titre de la revue :
Autonomous Robots
Éditeur :
Springer Verlag
Date de publication :
2015-12-11
ISSN :
0929-5593
Mot(s)-clé(s) en anglais :
Collision Avoidance
Obstacle Avoidance
Supervisory Control
Local Planner
Switching Instant
Obstacle Avoidance
Supervisory Control
Local Planner
Switching Instant
Discipline(s) HAL :
Sciences de l'ingénieur [physics]/Automatique / Robotique
Résumé en anglais : [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 ...
Lire la suite >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.Lire moins >
Lire la suite >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.Lire moins >
Langue :
Anglais
Vulgarisation :
Non
Collections :
Source :
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