Multiple obstacle avoidance of four-wheeled vehicle with steering limitation using nondifferentiable control Lyapunov function
| Autor: | Daisuke Tsubakino, Ryo Nonaka, Yuh Yamashita |
|---|---|
| Rok vydání: | 2015 |
| Předmět: |
Lyapunov function
0209 industrial biotechnology Engineering 02 engineering and technology symbols.namesake 020901 industrial engineering & automation Control theory Navigation function Obstacle avoidance 0202 electrical engineering electronic engineering information engineering Control-Lyapunov function Nonholonomic system business.industry Heuristic Control engineering Robotics Mobile robot Computer Science Applications Human-Computer Interaction Hardware and Architecture Control and Systems Engineering symbols 020201 artificial intelligence & image processing Artificial intelligence business Software |
| Zdroj: | Advanced Robotics. 30:15-28 |
| ISSN: | 1568-5535 0169-1864 |
| Popis: | Controlling a mobile robot in a space with obstacles is a well-known problem in robotics. The control objective is for the mobile robot to reach a goal point with obstacle avoidance. In this paper, we specially consider the multiple obstacle avoidance problem for particularly a four-wheeled vehicle. Assuming that the shapes and locations of the obstacles are known, we propose a design method of a nondifferentiable navigation function, which guides a vehicle at the desired point. The control law for the four-wheeled vehicle is obtained from the extended function of the navigation function. As four-wheeled vehicles cannot move sideways because of their nonholonomic constraint, the proposed control law addresses this difficulty by considering a decrease in the control Lyapunov function, and can be applied to vehicles with steering limitations. Moreover, the control law makes it possible for the vehicles to achieve an -point turn automatically without the need for any rule-based decision-making or heuristic m... |
| Databáze: | OpenAIRE |
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