Performance-Based Rough Terrain Navigation for Nonholonomic Mobile Robots

Yi Guo; Lynne E. Parker; David Jung; Zhaoyang Dong

doi:10.1109/iecon.2003.1280693

Performance-Based Rough Terrain Navigation for Nonholonomic Mobile Robots

Yi Guo
, Lynne E. Parker
, David Jung
, Zhaoyang Dong

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

29 Citations (Scopus)

Abstract

This paper addresses path planning and control of mobile robots in rough terrain environments. Previous research separates path planning and control into two different problems and addresses them in different contexts. Instead, we formulate these issues in connected modules with performance requirement considerations in each module. We advocate the idea that by incorporating criterion-optimizing design in each module and organizing them in a behavior-based architecture, performance issues (e.g., robot safety, or geometric, time-based, and physics-based criteria) are adequately addressed. A feedback control strategy is used for trajectory tracking, and closed-loop stability of error dynamics is granted. Simulation results show that the trajectory controller is robust with respect to initial conditions and model uncertainties.

Original language	English
Title of host publication	IECON Proceedings (Industrial Electronics Conference)
Pages	2811-2816
Volume	3
DOIs	https://doi.org/10.1109/iecon.2003.1280693
Publication status	Published - 2003
Externally published	Yes
Event	The 29th Annual Conference of the IEEE Industrial Electronics Society - Roanoke, United States Duration: 2 Nov 2003 → 6 Nov 2003 https://ieeexplore.ieee.org/document/1280184

Conference

Conference	The 29th Annual Conference of the IEEE Industrial Electronics Society
Place	United States
City	Roanoke
Period	2/11/03 → 6/11/03
Internet address	https://ieeexplore.ieee.org/document/1280184

Bibliographical note

Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

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title = "Performance-Based Rough Terrain Navigation for Nonholonomic Mobile Robots",

abstract = "This paper addresses path planning and control of mobile robots in rough terrain environments. Previous research separates path planning and control into two different problems and addresses them in different contexts. Instead, we formulate these issues in connected modules with performance requirement considerations in each module. We advocate the idea that by incorporating criterion-optimizing design in each module and organizing them in a behavior-based architecture, performance issues (e.g., robot safety, or geometric, time-based, and physics-based criteria) are adequately addressed. A feedback control strategy is used for trajectory tracking, and closed-loop stability of error dynamics is granted. Simulation results show that the trajectory controller is robust with respect to initial conditions and model uncertainties.",

author = "Yi Guo and Parker, \{Lynne E.\} and David Jung and Zhaoyang Dong",

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AU - Jung, David

AU - Dong, Zhaoyang

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PY - 2003

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N2 - This paper addresses path planning and control of mobile robots in rough terrain environments. Previous research separates path planning and control into two different problems and addresses them in different contexts. Instead, we formulate these issues in connected modules with performance requirement considerations in each module. We advocate the idea that by incorporating criterion-optimizing design in each module and organizing them in a behavior-based architecture, performance issues (e.g., robot safety, or geometric, time-based, and physics-based criteria) are adequately addressed. A feedback control strategy is used for trajectory tracking, and closed-loop stability of error dynamics is granted. Simulation results show that the trajectory controller is robust with respect to initial conditions and model uncertainties.

AB - This paper addresses path planning and control of mobile robots in rough terrain environments. Previous research separates path planning and control into two different problems and addresses them in different contexts. Instead, we formulate these issues in connected modules with performance requirement considerations in each module. We advocate the idea that by incorporating criterion-optimizing design in each module and organizing them in a behavior-based architecture, performance issues (e.g., robot safety, or geometric, time-based, and physics-based criteria) are adequately addressed. A feedback control strategy is used for trajectory tracking, and closed-loop stability of error dynamics is granted. Simulation results show that the trajectory controller is robust with respect to initial conditions and model uncertainties.

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M3 - RGC 32 - Refereed conference paper (with host publication)

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BT - IECON Proceedings (Industrial Electronics Conference)

T2 - The 29th Annual Conference of the IEEE Industrial Electronics Society

Y2 - 2 November 2003 through 6 November 2003

ER -

Performance-Based Rough Terrain Navigation for Nonholonomic Mobile Robots

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Conference

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