By Topic

Satisficing feedback strategies for local navigation of autonomous mobile robots

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

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

A general approach to the local navigation problem for autonomous mobile robots (AMRs) is presented and its application to omnidirectional and conventionally steered wheelbases is described. The problem of driving an AMR to a goal in an unknown environment is formulated as a dynamic feedback control problem in which local feedback information is used to make steering decisions while the AMR is moving. To obtain a computationally tractable algorithm, a class of satisficing feedback strategies that generate reasonable, collision-free trajectories to the goal using simplified representations of the AMR dynamics and constrains is proposed. Realizations of the feedback strategy are presented and illustrated by simulation under the assumptions of perfect feedback information and zero servo error. Straightforward extensions of the approach to handle uncertainties in real systems are briefly described

Published in:

IEEE Transactions on Systems, Man, and Cybernetics  (Volume:20 ,  Issue: 6 )