Abstract
This paper essays a new solution to the landmark navigation problem of planar robots in the presence of randomly fixed obstacles through a new dynamic updating rule involving the orientation and steering angle parameters of a robot. The dynamic updating rule utilizes a first-order nonlinear ordinary differential equation for the changing of landmarks so that whenever a landmark is updated, the path followed by the robot remains continuous and smooth. This waypoints guidance is via specific landmarks selected from a new set of rules governing the robot’s field of view. The governing control laws guarantee asymptotic stability of the 2D point robot system. As an application, the landmark motion planning and control of a car-like mobile robot navigating in the presence of fixed elliptic-shaped obstacles are considered. The proposed control laws take into account the geometrical constraints imposed on steering angle and guarantee eventual uniform stability of the car-like system. Computer simulations, using Matlab software, are presented to illustrate the effectiveness of the proposed technique and its stabilizing algorithm.
Highlights
E main contributions of this research are as follows: (1) a new dynamic updating rule based on the orientation and steering angle of a robot for the selection of a set of relevant landmarks; (2) the velocity-based controllers which guarantee asymptotic stability of 2D point robot system; and (3) a new set of rules governing the robot’s field of view for waypoints
The algorithm proposed in this paper for landmark selection depends on the field of view and those points that lie in between the robot’s position and its target. is ensures that all those points which lie behind the robot or behind the target are automatically discarded
With a clear definition of the field of view, it is shown that all trajectories starting near the equilibrium point are guaranteed to converge to the equilibrium point
Summary
Robots have a vast impact on our livelihood as they continue to improve efficiency, productivity, saving, quality, safety, security, and convenience of our endeavors, which are usually treated as being dull, dangerous, dirty, and difficult [1,2,3]. e applications of robots include search and rescue, surveillance, transportation, healthcare, pedestrian navigation, reconnaissance, pursuit-evasion, assembly, pick and place, and explorations in various environments [4,5,6,7,8,9,10,11,12]. The navigation of the car-like robot is guided via waypoints or specific landmarks selected from the robot’s field of view, guaranteeing eventual uniform stability of the system using theorem from Yoshizawa [49]. E main contributions of this research are as follows: (1) a new dynamic updating rule based on the orientation and steering angle of a robot for the selection of a set of relevant landmarks; (2) the velocity-based controllers which guarantee asymptotic stability of 2D point robot system; and (3) a new set of rules governing the robot’s field of view for waypoints. The same motion planning and control (MPC) problem is solved, but the robot will be guided to its goal by selected landmarks in the workspace, essentially the landmark navigation problem. Since this distance appears in the denominator, the magnitude of turning/steering angle will increase as the robot approaches an obstacle, deviating the robot away from the obstacle
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