Paper Info
Title
Boundary tracking by a wheeled robot with rigidly mounted sensors
Abstract
We consider the problem of reactively navigating an unmanned vehicle along an obstacle in the case where data about its boundary are limited to the distance along and the reflection angle of the ray perpendicular to the vehicle centerline. Such situation holds if e.g., the measurements are supplied by several range sensors rigidly mounted at nearly right angles. A sliding mode control law is proposed that drives the vehicle at a pre-specified distance from the boundary and maintains this distance afterwards. This is achieved without estimation of the boundary curvature and holds for obstacles with both convexities and concavities. Mathematically rigorous analysis of the proposed control law is provided, including explicit account for the global geometry of the obstacle. Computer simulations and experiments with real wheeled robots confirm the applicability and performance of the proposed guidance approach.
Year
DOI
Venue
2012
10.1109/ICARCV.2012.6485149
Control Automation Robotics & Vision
Keywords
Field
DocType
collision avoidance,computational geometry,mobile robots,remotely operated vehicles,sensors,variable structure systems,boundary tracking,computer simulations,concavities,convexities,global geometry,mobile robot,real wheeled robots,reflection angle,rigidly mounted range sensors,sliding mode control law,unmanned vehicle,vehicle centerline,Border patrolling,Navigation,Non-holonomic vehicles,Sliding mode control,Wheeled robots
Remotely operated underwater vehicle,Obstacle,Right angle,Curvature,Control theory,Computer science,Computational geometry,Control engineering,Robot,Mobile robot,Sliding mode control
Conference
ISSN
ISBN
Citations 
2474-2953
978-1-4673-1870-9
0
PageRank 
References 
Authors
0.34
16
3
Name
Order
Citations
PageRank
Alexey S. Matveev141.77
Michael Hoy210.69
Andrey V. Savkin38518.09