This paper presents a method for steering velocity bounded mobile robots in environments with partially known stationary obstacles. The exact location of obstacles is unknown and only a probability distribution associated with the location of the obstacles is known. Kinematic model of a 2-wheeled differential drive robot is used as the model of mobile robot. The presented control strategy uses the Artificial Potential Field (APF) method for devising a desired direction of movement for the robot at each instant of time while the Constrained Directions Control (CDC) uses the generated direction to produce the control signals required for steering the robot. The location of each obstacle is considered to be the mean value of the 2D probability distribution and similarly, the magnitude of the electric charge in the APF is set as the trace of covariance matrix of the location probability distribution. The method not only captures the challenges of planning the path (i.e. probabilistic nature of the location of unknown obstacles), but it also addresses the output saturation which is considered to be an important issue from the control perspective. Moreover, velocity of the robot can be controlled during the steering. For example, the velocity of robot can be reduced in close vicinity of obstacles and target to ensure safety. Finally, the control strategy is simulated for different scenarios to show how the method can be put into practice.


    Access

    Download


    Export, share and cite



    Title :

    Steering Velocity Bounded Mobile Robots in Environments with Partially Known Obstacles


    Contributors:

    Publication date :

    2017-01-02


    Remarks:

    oai:zenodo.org:1339598
    International Journal of Mechanical, Industrial and Aerospace Sciences 9.0(10)



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    DDC:    629




    Autonomous Indoor Vehicle Navigation Using Modified Steering Velocity Obstacles

    Fuad, Muhammad / Agustinah, Trihastuti / Purwanto, Djoko | IEEE | 2020


    Steering device for mobile robots

    European Patent Office | 2025

    Free access

    Motion Planning in Dynamic Environments Using Velocity Obstacles

    Fiorini, Paolo / Shiller, Zvi | NTRS | 1995


    Steering device for mobile robots

    JUNGWOOK SUH / SONGEUN PARK | European Patent Office | 2024

    Free access

    Planning and Intelligent Control of Autonomous Mobile Robots in Partially Structured Environments

    Chohra, A. / Benmehrez, C. / IEEE et al. | British Library Conference Proceedings | 1994