Closed loop navigation for mobile agents in dynamic environments

We apply a novel motion planning and control methodology, which is based on a non-smooth navigation function, to a point mobile robot moving amongst moving obstacles. The chattering introduced by the discontinuous potential field is suppressed using non-smooth backstepping. The combined controller guarantees global asymptotic convergence and collision avoidance. This controller is particularly suitable for real time implementation on systems with limited computational resources. The effectiveness of the proposed scheme is verified through computer simulations.

Authors

• Savvas G. Loizou
• Herbert G. Tanner
• Vijay Kumar 0001
• Kostas J. Kyriakopoulos

Keywords

• Navigation
• Mobile agents
• Motion planning
• Motion control
• Mobile robots
• Backstepping
• Convergence
• Collision avoidance
• Control systems
• Real time systems
• Dynamic Environment
• Smooth Function
• Path Planning
• Limited Computational Resources
• Navigation Function
• Proof Of Proposition
• Red Spots
• Autonomous Agents
• Absolutely Continuous
• Robot Navigation
• Constant Interval
• Robot Trajectory
• Nonsmooth Functions
• Discontinuity Surface