Navigation and Control of a Wheeled Mobile Robot

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.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2005
Accession Number
ADA465707

Entities

People

  • D. M. Dawson
  • Jiayu Chen
  • T. Galluzzo
  • W. E. Dixon

Organizations

  • Clemson University

Tags

Communities of Interest

  • Space

DTIC Thesaurus Topics

  • Boundaries
  • Closed Loop Systems
  • Collision Avoidance
  • Collisions
  • Contracts
  • Control
  • Differential Equations
  • Engineering
  • Mobile Manipulators
  • Motion Planning
  • Navigation
  • Robots
  • Simulations
  • Three Dimensional
  • Trajectories
  • Two Dimensional
  • Universities

Fields of Study

  • Computer science

Readers

  • Calculus or Mathematical Analysis
  • Robotics and Automation.
  • Systems Analysis and Design

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Learning Algorithms
  • Autonomy
  • Autonomy - Autonomous System Control
  • Space
  • Space - Spacecraft Maneuvers