Limit-cycle navigation method for mobile robot

Kim, Donghan; Park, Chong-Kug

doi:10.1109/chicc.2008.4605157

Cited by 5 publications

(1 citation statement)

References 9 publications

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“…It allows robots to avoid an obstacle while moving toward a destination. The authors in Kim and Chongkug 13 have proposed a limit cycle navigation method with the information of the relative position of obstacles to improve robustness in the face of environmental uncertainty. However, the works do not develop a stable control law and have focused on static obstacles.…”

Section: Introductionmentioning

confidence: 99%

Coordinated path-following control of distributed autonomous vehicles with obstacles and collision avoidance

Ghasemi,

Tahmasbi,

Ahmadian

et al. 2024

Proceedings of the Institution of Mechanical Engineers, Part C:

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This study presents the path-following control design for a group of autonomous underwater vehicles in a plane with obstacle and collision avoidance. A distributed backstepping controller is exploited for an autonomous vehicle to design a path-following controller. Then, the controller is applied for the path-following of a group of autonomous vehicle systems in the formation setting. The graph theory is used to model the interconnection between the vehicles. To avoid obstacles and collisions, a dynamic limit-cycle-based algorithm is proposed. It is assumed that each obstacle is involved an elliptical shape and if the collision or conflict of one vehicle to the surrounded environmental obstacles is detected, the obstacle avoidance algorithm will be active to prevent collisions. Finally, the introduced algorithm is implemented and simulated for a group of underwater autonomous vehicles in MATLAB software. The simulation results illustrate the effectiveness and performance of the proposed distributed controller apparently.

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Section: Introductionmentioning

confidence: 99%

Coordinated path-following control of distributed autonomous vehicles with obstacles and collision avoidance

Ghasemi,

Tahmasbi,

Ahmadian

et al. 2024

Proceedings of the Institution of Mechanical Engineers, Part C:

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Obstacle avoidance in multi-vehicle coordinated motion via stabilization of time-varying sets

Ghorbanian

Nersesov

Ashrafiuon

2011

Proceedings of the 2011 American Control Conference

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In this paper, we review the recent results on stability and control for time-varying sets of nonlinear timevarying dynamical systems and utilize them for the problem of multi-vehicle coordinated motion in the context of obstacle avoidance where obstacles are approximated and enclosed by elliptic shapes. Specifically, we design distributed controllers for individual vehicles moving in a specified formation in the presence of such obstacles. The obstacle avoidance algorithm that we propose is based on transitional trajectories which are defined by a set of ordinary differential equations that exhibit a stable elliptical limit cycle. The control framework is implemented on the system of double integrators and is shown to globally exponentially stabilize moving formation of the agents in pursuit of a leader while ensuring obstacle avoidance.

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A simple reactive algorithm for miniature mobile robot navigation in the unknown environment with static obstacles

Huang

Gao

et al. 2013

2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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Limit-cycle navigation method for mobile robot

Cited by 5 publications

References 9 publications

Coordinated path-following control of distributed autonomous vehicles with obstacles and collision avoidance

Coordinated path-following control of distributed autonomous vehicles with obstacles and collision avoidance

Obstacle avoidance in multi-vehicle coordinated motion via stabilization of time-varying sets

A simple reactive algorithm for miniature mobile robot navigation in the unknown environment with static obstacles

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