Abstract
In this paper, linear navigation law is studied in depth and we suggest an efficient, practical and simple approach for nonholonomic mobile robot navigation under velocity vector control based on the linear navigation law. First of all, an obstacle is equivalent to a velocity vector when detected by a robot's sensory system according to the relative distant and relative direction between the robot and the obstacle. Then the vector sum of all obstacles' equivalent velocity vectors (OEVVs) and the linear navigation velocity vector (LNVV) derived from the linear navigation law drives the robot to reach the desired goal position without colliding with any obstacle in the robot's workspace. Furthermore, during the process of driving the mobile robot under the resultant velocity vector, a set of strategies for velocity and acceleration constraints (VAC) is devised to make kinematic behaviours of the mobile robot more practical. Finally, to validate the effectiveness and superiority, extensive simulation results with no obstacles, a single obstacle and multiple obstacles are provided.
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