Navigation and Control of a Wheeled Mobile Robot
CLEMSON UNIV SC DEPT OF ELECTRICAL AND COMPUTER ENGINEERING
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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.
- Operations Research