NDLI: Boundary tracking by a wheeled robot with rigidly mounted sensors

Content Provider	IEEE Xplore Digital Library
Author	Matveev, A.S. Hoy, M.C. Savkin, A.V.
Copyright Year	2012
Description	Author affiliation: Department of Mathematics and Mechanics, Saint Petersburg University, St. Petersburg, Russia (Matveev, A.S.) \|\| School of Electrical Engineering and Telecommunications, The University of New South Wales, Sydney, Australia (Hoy, M.C.; Savkin, A.V.)
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.
Starting Page	148
Ending Page	153
File Size	643055
Page Count	6
File Format	PDF
ISBN	9781467318716
e-ISBN	9781467318723
e-ISBN	9781467318709
DOI	10.1109/ICARCV.2012.6485149
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-12-05
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicles Mobile robots Robot sensing systems Navigation Noise Wheeled robots Non-holonomic vehicles Border patrolling Sliding mode control
Content Type	Text
Resource Type	Article

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