2014/03/19 by Alexey S. Matveev, Matveev, Alexey S., Michael Hoy +3
Computer Science · Engineering · #FOS: Mathematics #Optimization and Control (math.OC) #Robotic Mechanisms and Dynamics #Robotic Path Planning Algorithms #Robotics and Sensor-Based Localization
paper · pdf · doi:10.48550/arxiv.1403.4929
openalex publication_date 2014/03/19 · openalex created_date 2016/06/24 · openalex updated_date 2026/07/28
We present a method for guidance of a Dubins-like vehicle with saturated control towards a target in a steady simply connected maze-like environment. The vehicle always has access to to the target relative bearing angle (even if the target is behind the obstacle or is far from the vehicle) and the distance to the nearest point of the maze if it is within the given sensor range. The proposed control law is composed by biologically inspired reflex-level rules. Mathematically rigorous analysis of this law is provided; its convergence and performance are confirmed by computer simulations and experiments with real robots.