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dc.contributor.author Jin, Jingfu ko
dc.contributor.author Kim, Yoon Gu ko
dc.contributor.author Wee, Sung Gil ko
dc.contributor.author Lee, Dong Ha ko
dc.contributor.author Gans, Nicholas R. ko
dc.date.available 2018-01-25T01:06:54Z -
dc.date.created 2017-04-20 -
dc.date.issued 2017-02 -
dc.identifier.citation Journal of Intelligent and Robotic Systems: Theory and Applications, v.86, pp.599 - 616 -
dc.identifier.issn 0921-0296 -
dc.identifier.uri http://hdl.handle.net/20.500.11750/5049 -
dc.description.abstract This paper presents a novel switched-system approach for obstacle avoidance by mobile robots. This approach does not suffer from common drawbacks of existing methods, such as needing prior knowledge of obstacles, or local minima or chattering in control laws. We define an attractive and an avoidance vector in obstacle-free and obstacle-avoidance regions, respectively. Next, we define an unified velocity vector, which represents either the attractive vector or the avoidance vector, and drives the robot away from the obstacle and ultimately towards the goal. The avoidance vector differs from the repulsive vector commonly used in potential field approaches, rather it is defined always perpendicular to such a repulsive vector and projects positively onto the attractive vector. The unified velocity vector enables the use of a common Lyapunov function in analyzing the stability of the system under arbitrary switching. Novel switching rules are proposed for obstacles that can be well bounded by a circle in the local subset of SE(2). To better handle large, non-circular obstacles, a separate switching signal is proposed. Through the choice of switching rule, we investigate the chattering problem that can hinder some switching controllers. We present two control laws, one with bounded inputs and one with no bounds on inputs. We prove both control schemes are asymptotically stable and guide the robot to the goal while avoiding obstacles. To verify the effectiveness of the proposed approach, as well as compare the control laws and switching rules, several simulations and experiments have been conducted. © 2017 Springer Science+Business Media Dordrecht -
dc.language English -
dc.publisher Springer Netherlands -
dc.title A Stable Switched-System Approach to Collision-Free Wheeled Mobile Robot Navigation -
dc.type Article -
dc.identifier.doi 10.1007/s10846-017-0467-z -
dc.identifier.wosid 000400197800019 -
dc.identifier.scopusid 2-s2.0-85011310379 -
dc.type.local Article(Overseas) -
dc.type.rims ART -
dc.description.journalClass 1 -
dc.contributor.nonIdAuthor Jin, Jingfu -
dc.contributor.nonIdAuthor Gans, Nicholas R. -
dc.identifier.citationVolume 86 -
dc.identifier.citationStartPage 599 -
dc.identifier.citationEndPage 616 -
dc.identifier.citationTitle Journal of Intelligent and Robotic Systems: Theory and Applications -
dc.type.journalArticle Article in Press -
dc.contributor.affiliatedAuthor Lee, Dong Ha -
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