Navegación de Robots Móviles en Entornos no Estructurados utilizando Álgebra Lineal
[EN] A new approach for navigation of mobile robots in dynamic environments by using Linear Algebra Theory, Numerical Methods, and a modification of the Force Field Method is presented in this paper. The controller design is based on the dynamic model of a unicycle-like nonholonomic mobile robot. Pr...
| Autores: | , , , |
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| Tipo de recurso: | artículo |
| Fecha de publicación: | 2009 |
| País: | España |
| Institución: | Universitat Politècnica de València (UPV) |
| Repositorio: | RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia |
| Idioma: | español |
| OAI Identifier: | oai:riunet.upv.es:10251/146839 |
| Acceso en línea: | https://riunet.upv.es/handle/10251/146839 |
| Access Level: | acceso abierto |
| Palabra clave: | Linear algebra Collision avoidance Force field method Dynamic model Mobile robot Álgebra lineal Evasión de obstáculos Fuerza ficticia Modelo dinámico Robot móvil |
| Sumario: | [EN] A new approach for navigation of mobile robots in dynamic environments by using Linear Algebra Theory, Numerical Methods, and a modification of the Force Field Method is presented in this paper. The controller design is based on the dynamic model of a unicycle-like nonholonomic mobile robot. Previous studies very often ignore the dynamics of mobile robots and suffer from algorithmic singularities. Simulation and experimentation results confirm the feasibility and the effectiveness of the proposed controller and the advantages of the dynamic model use. By using this new strategy, the robot is able to adapt its behavior at the available knowing level and it can navigate in a safe way, minimizing the tracking error. |
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