Hybrid Potential Field Based Control of Differential Drive Mobile Robots
Hybrid Potential Field Based Control of Differential Drive Mobile Robots
复制标题
基于混合势场的差动驱动移动机器人控制
DOI：
10.1007/s10846-012-9685-6
复制
发表时间：
2012
影响因子：
3.3
通讯作者：
H. Tanner
中科院分区：
文献类型：
--
作者：
Luis Valbuena;H. Tanner
本文提出了一种基于导航函数的势场法非完整移动的机器人在障碍物环境中导航的新方法。所提出的策略是一个时不变的反馈控制设计的显着特点，它几乎不需要切换相比，替代方法相同的性质。渐近收敛与避免碰撞的方法建立解析，并证明了该方法的差动驱动滑移转向移动的机器人。
This paper suggests a new way for nonholonomic mobile robots to navigate in obstacle environments using potential fields based on navigation functions. The proposed strategy is a time-invariant feedback control design with the distinguishing feature that it requires almost no switching compared to alternative methodologies of the same nature. Asymptotic convergence with collision avoidance for the proposed approach is established analytically, and the method is demonstrated on a differential-drive skid steering mobile robot.