Accession Number:

ADA465707

Title:

Navigation and Control of a Wheeled Mobile Robot

Descriptive Note:

Corporate Author:

CLEMSON UNIV SC DEPT OF ELECTRICAL AND COMPUTER ENGINEERING

Report Date:

2005-01-01

Pagination or Media Count:

12.0

Abstract:

Several approaches for incorporating navigation function approach into different controllers are developed in this paper for task execution by a non-holonomic system e.g., a wheeled mobile robot in the presence of known obstacles. The first approach is a path planning-based control with planning a desired path based on a 3-dimensional position and orientation information. A navigation-like function yields a path from an initial configuration inside the free configuration space of the mobile robot to a goal configuration. A differentiable oscillator-based controller is then used to enable the mobile robot to follow the path and stop at the goal position. A second approach is developed for a navigation function that is constructed using 2-dimensional position information. A differentiable controller is proposed based on this navigation function that yields asymptotic convergence. Simulation results are provided to illustrate the performance of the second approach.

Subject Categories:

  • Operations Research
  • Cybernetics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE