2018/03/02 by Alexey S. Matveev, Matveev, Alexey S., Andrey V. Savkin +1 · 1 citation
Computer Science · Engineering · #FOS: Mathematics #Modular Robots and Swarm Intelligence #Optimization and Control (math.OC) #Robotic Path Planning Algorithms #Robotics and Sensor-Based Localization
paper · pdf · doi:10.48550/arxiv.1803.00803
openalex publication_date 2018/03/02 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
A nonholonomic under-actuated robot with a bounded control range travels inside an unknown and unstructured 3D tunnel bounded by a generic 2D surface. The robot has access to the nearest point of the surface and measures the distance to the surface along any ray from a narrow beam emitted from the robot around the direction to the nearest point. The paper presents some mathematical facts underlying justification of the convergence and performance of a new navigation law that ensures constant advancement of the robot through the tunnel, along with respecting a given safety margin to its surface, driving the robot to the desired distance to it, and subsequently maintaining this distance.