Robot navigation on star worlds using a single-step Navigation Transformation
| Autor: | Savvas G. Loizou, Nicolas Constantinou |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Series (mathematics) Computer science Feedback-based navigation 02 engineering and technology Electrical Engineering - Electronic Engineering - Information Engineering Star (graph theory) Implicit obstacle representation Star world Domain (software engineering) 020901 industrial engineering & automation Transformation (function) Obstacle Navigation Transformation 0202 electrical engineering electronic engineering information engineering Engineering and Technology Robot 020201 artificial intelligence & image processing Point (geometry) Diffeomorphism Algorithm |
| Zdroj: | CDC 2020 59th IEEE Conference on Decision and Control (CDC) |
| Popis: | This work presents a single-step diffeomorphic transformation from a known star world to a trivial domain called the point world, where the navigation task is reduced to connecting the images of the initial and destination configurations by a straight line. Obstacle potential functions - derived using Zenkin's formulas - are used to define a transformation activation region around each obstacle. Configurations in this region are radially mapped with respect to the center of the corresponding obstacle. The proposed transformation guarantees almost global navigation. The provided theoretical results are backed by analytical proofs, while the effectiveness of the method is demonstrated by a series of simulation studies. |
| Databáze: | OpenAIRE |
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