Title

Performance-Based Rough Terrain Navigation For Nonholonomic Mobile Robots

Abstract

This paper addresses path planning and control of mobile robots in rough terrain environments. Previous research separates path planning and control into two different problems and addresses them in different contexts. Instead, we formulate these issues in connected modules with performance requirement considerations in each module. We advocate the idea that by incorporating criterion-optimizing design in each module and organizing them in a behavior-based architecture, performance issues (e.g., robot safety, or geometric, time-based, and physics-based criteria) are adequately addressed. A feedback control strategy is used for trajectory tracking, and closed-loop stability of error dynamics is granted. Simulation results show that the trajectory controller is robust with respect to initial conditions and model uncertainties.

Publication Date

12-1-2003

Publication Title

IECON Proceedings (Industrial Electronics Conference)

Volume

3

Number of Pages

2811-2816

Document Type

Article; Proceedings Paper

Personal Identifier

scopus

Socpus ID

1442284542 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/1442284542

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