A Navigation Algorithm for a Non-holonomic Mobile Robot Navigated by a Sensor Network in Dynamic Cluttered Environments
作者单位：School of Electrical Engineering and TelecommunicationsUniversity of New South Wales
会议名称：《第36届中国控制会议》
会议届次：36
主办单位：Dalian University of Technology;Systems Engineering Society of China (SESC);Technical Committee on Control Theory (TCCT), Chinese Association of Automation (CAA)
会议日期：2017年
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
基 金：supported by the Australian Research Council
关 键 词：Obstacle Avoidance Mobile Robots Dynamic Environments Sensor Network Safe Robot Navigation
摘 要：In this paper,we propose a discrete-time navigation algorithm for a non-holonomic mobile robot.A sensor network,which consists of some range finders,is deployed in a planar environment to detect static and moving *** robot or a server obtains the real-time local maps from sensor nodes and calculates a temporarily safe path from the robot’s current position to a given *** generated path is updated every time step and the robot tracks it to the target and avoids the obstacles and undetected *** computer simulations confirm the expected performance of the proposed algorithm.