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Single Landmark Feedback-based Time Optimal Navigation for a Differential Drive Robot by Macias, Vladimir (author);Becerra, Israel (author);Martinez, Edgar (author);Murrieta-Cid, Rafael (author);Becerrra, Hector M. (author) is a Engineering article available to read on EtoBox.

What is Single Landmark Feedback-based Time Optimal Navigation for a Differential Drive Robot about?

In this paper, we propose a feedback-based control approach to execute the time optimal motion trajectories for a differential drive robot. These trajectories are composed of straight lines and rotations in place. We show that the evolution of the position of a single landmark over time, in a local reference frame, makes it possible to track a prescribed time-optimal robot's trajectory, based on feedback of the landmark's position. We also show that the closed-loop system is an exponentially stable one with a nonvanishing perturbation, and that globally uniformly ultimately boundedness of the tracking errors can be achieved. The two main results of this work are: 1) Our approach leverages visual servo control type of methods with tools from optimal control for executing time-optimal trajectories in the state space based on feedback information. 2) The approach is able to work with the minimum number of landmarks-only one-this represents a necessary and sufficient condition for landmark-based navigation. Experiments in a physical robot, a nonholonomic differential drive system equipped with an omnidirectional laser sensor, are shown, which validate the proposed theoretical modelling

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Author

Macias, Vladimir (author);Becerra, Israel (author);Martinez, Edgar (author);Murrieta-Cid, Rafael (author);Becerrra, Hector M. (author)

Publisher

Elsevier BV

Published

2021

Language

EN

Field

Engineering (Physical Sciences)