Real-time navigation of mobile robots in problems of border patrolling and avoiding collisions with moving and deforming obstacles

Authors:
Alexey S. Matveev;Chao Wang;Andrey V. Savkin
Affiliations:
Department of Mathematics and Mechanics, Saint Petersburg University, Universitetskii 28, Petrodvoretz, St. Petersburg, 198504, Russia;School of Electrical Engineering and Telecommunications, The University of New South Wales, Sydney 2052, Australia;School of Electrical Engineering and Telecommunications, The University of New South Wales, Sydney 2052, Australia
Venue:
Robotics and Autonomous Systems
Year:
2012

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Abstract

We present a sliding mode based strategy for a unicycle-like robot navigation and guidance. The proposed navigation law is applied to the problems of patrolling the border of a moving and deforming domain and reaching a target through a dynamic environment cluttered with moving obstacles. Mathematically rigorous analysis of the proposed approach is provided. The convergence and performance of the algorithm is demonstrated via experiments with real robots and extensive computer simulation.