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Dynamic generation of subgoals for autonomous mobile robots using local feedback information

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2 Author(s)
Krogh, B.H. ; Dept. of Electr. & Comput. Eng., Carnegie-Mellon Univ., Pittsburgh, PA, USA ; Feng, D.

An algorithm is presented for using a local feedback information to generate subgoals for driving an autonomous mobile robot (AMR) along a collision-free trajectory to a goal. The subgoals section algorithm (SSA) updates subgoal positions while the AMR is moving so that continuous motion is achieved without stopping to replan a path when new sensor data becomes available. Assuming a finite number of polynomial obstacles (i.e. the internal representation of the local environment in terms of a 2-D map with linear obstacles boundaries) and a dynamic steering control algorithm (SCA) capable of driving the AMR to safe subgoals, it is shown that the feedback algorithm for subgoal selection will direct the AMR along a collision-free trajectory to the final goal in finite time. Properties of the algorithm are illustrated by simulation examples

Published in:

Automatic Control, IEEE Transactions on  (Volume:34 ,  Issue: 5 )

Date of Publication:

May 1989

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