closed loop motion planning and control for mobile robots in.pdfVIP

Closed Loop Motion Planning and Control for Mobile Robots in Uncertain Environments Savvas G. Loizou Herbert G. Tanner Vijay Kumar Kostas J. Kyriakopoulos Control Systems Lab., National Technical University of Athens, Athens, Greece Mechanical Engineering Dept., University of New Mexico, Albuquerque NM, USA GRASP Lab, CIS, University of Pennsylvania, Philadelphia PA, U.S.A sloizou, kkyria@mail.ntua.gr, tanner, kumar@grasp.cis.upenn.edu Abstract— In this paper we present an extension to the control law. Section V presents the simulation results and the navigation function methodology [6], [7] to the case where paper concludes with section VI. unmodelled obstacles are introduced in the workspace. A feed- back control law is derived, based on the navigation function II . PRELIMINARIE S built on the initial workspace. Global convergence and collision avoidance properties are established. The derived closed form Let the admissible configuration space (workspace) for the control law is suitable for real time implementation. Colli- robot be . The obstacle free subset of the workspace sion avoidance and global convergence properties are verified is denoted , and is the potential through computer simulations. (navigation) function which models the known environment. I . IN TRODU CTION Let be the i’th known obstacle, , where is the number of known obstacles. We assume that Navigation functions [1], [3], [6], [8] have become an obstacles boundaries are curves. important tool for potential field based robot navigation Define