By Topic

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

Sign In

Full text access may be available.

To access full text, please use your member or institutional sign in.

Formats Non-Member Member
$31 $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

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.
more authors

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.

Published in:

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