Proving the Stability of the Rolling Navigation

Autor:	Auguste Bourgois, Amine Chaabouni, Andreas Rauh, Luc Jaulin
Rok vydání:	2023
Předmět:	Information Systems and Management Computer Science (miscellaneous) Computer Vision and Pattern Recognition Electrical and Electronic Engineering Management Science and Operations Research Software Theoretical Computer Science
Zdroj:	Acta Cybernetica.
ISSN:	2676-993X 0324-721X
DOI:	10.14232/actacyb.295941
Popis:	In this paper, we propose to study the stability of a navigation method that allows a robot to move in an unstructured environment without compass by measuring a scalar function φ which only depends on the position. The principle is to ask the robot to roll along an isovalue of φ . Using an interval method, we prove the stability of our closed loop system in the special case where φ is linear.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_dedup___::bd2b780fe5022aa31dd4d85c5d3e23a1 https://doi.org/10.14232/actacyb.295941 Zobrazit plný text záznamu