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Vector Fields for Robot Navigation Along Time-Varying Curves in n -Dimensions

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5 Author(s)
Goncalves, V.M. ; Escola de Engenharia, Universidade Federal de Minas Gerais (UFMG), Belo Horizonte, Brazil ; Pimenta, L.C.A. ; Maia, C.A. ; Dutra, B.C.O.
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This paper presents a methodology for computation of artificial vector fields that allows a robot to converge to and circulate around generic curves specified in n -dimensional spaces. These vector fields may be directly applied to solve several robot-navigation problems such as border monitoring, surveillance, target tracking, and multirobot pattern generation, with special application to fixed-wing aerial robots, which must keep a positive forward velocity and cannot converge to a single point. Unlike previous solutions found in the literature, the approach is based on fully continuous vector fields and is generalized to time-varying curves defined in n -dimensional spaces. We provide mathematical proofs and present simulation and experimental results that illustrate the applicability of the proposed approach. We also present a methodology for construction of the target curve based on a given set of its samples.

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Robotics, IEEE Transactions on  (Volume:26 ,  Issue: 4 )