Proofs of the Technical Results Justifying a Biologically Inspired\n Algorithm for Reactive Navigation of Nonholonomic Robots in Maze-Like\n Environments

2011/11/21 by Alexey S. Matveev, Matveev, Alexey S., Michael Hoy +3
Computer Science · Engineering · #93C10 #93C15 #93C41 #93C85 #Adaptive Control of Nonlinear Systems #Control and Dynamics of Mobile Robots #FOS: Mathematics #Guidance and Control Systems #Optimization and Control (math.OC) #Robotic Path Planning Algorithms

paper · pdf · doi:10.48550/arxiv.1111.4767

openalex publication_date 2011/11/21 · openalex created_date 2022/09/12 · openalex updated_date 2026/07/28

Abstract

We present technical results justifying a method for guidance of a\nDubins-like vehicle with saturated control towards a target in a steady simply\nconnected maze-like environment. The vehicle always has access to to the target\nrelative bearing angle and the distance to the nearest point of the maze if it\nis within the given sensor range. The proposed control law is composed by\nbiologically inspired reflex-level rules. Mathematically rigorous analysis of\nthis law is provided; its convergence and performance are confirmed by computer\nsimulations and experiments with real robots.\n

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