Tracking under the nonholonomic constraint using cubic navigation laws

J. Vargas, S. Mendez, F. Belkhouche

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

This paper deals with the problem of mobile robot tracking an unpredictably moving target in the presence of obstacles.We suggest a new family of navigation laws that consists of cubic navigation functions. These laws depend on various external parameters that can be used to adjust the robot's path, especially to avoid collision with obstacles. The suggested method allows an easy combination between the global aspects of target tracking and the local aspects of obstacle avoidance. A method is suggested to tune and adjust the parameters of the navigation laws and derive a locally optimal path. The method is illustrated using an extensive simulation.

Original languageEnglish (US)
Title of host publicationProceedings 2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009
Pages2788-2793
Number of pages6
DOIs
StatePublished - 2009
Event2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009 - San Antonio, TX, United States
Duration: Oct 11 2009Oct 14 2009

Publication series

NameConference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
ISSN (Print)1062-922X

Other

Other2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009
Country/TerritoryUnited States
CitySan Antonio, TX
Period10/11/0910/14/09

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Human-Computer Interaction

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