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Pregled bibliografske jedinice broj: 1030212

Wheeled robot navigation based on a unimodal potential function


(Faculty of Electrical Engineering, University of Ljubljana, SI-1000 Ljubljana, Slovenia) Klančar, Gregor; Mušič, Gašper; Chen, Hao; Seder, Marija
Wheeled robot navigation based on a unimodal potential function // International Conference on Computer, Information and Telecommunication Systems - CITS 2019 / Obaidat, Mohammad S. ; Mi, Zhenqiang ; Hsiao, Kuei-Fang ; Nicopolitidis, Petros ; Cascado-Caballero, Daniel (ur.).
Beijing: IEEE, 2019. 8862144, 5 doi:10.1109/CITS.2019.8862144 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
Wheeled robot navigation based on a unimodal potential function

Autori
Klančar, Gregor ; Mušič, Gašper ; Chen, Hao ; Seder, Marija

Kolaboracija
Faculty of Electrical Engineering, University of Ljubljana, SI-1000 Ljubljana, Slovenia

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
International Conference on Computer, Information and Telecommunication Systems - CITS 2019 / Obaidat, Mohammad S. ; Mi, Zhenqiang ; Hsiao, Kuei-Fang ; Nicopolitidis, Petros ; Cascado-Caballero, Daniel - Beijing : IEEE, 2019

ISBN
978-1-7281-1374-6

Skup
International Conference on Computer, Information and Telecommunication Systems (CITS)

Mjesto i datum
Beijing, China, 28-31.08.2019

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Navigation , potential field , motion control , model predictive control , path planning

Sažetak
This article proposes wheeled mobile robot navigation based on a model predictive control over unimodal potential function. The navigation potential function has a single minimum and no local minima. It is obtained from a discrete graph-based search algorithm that can update the environment changes. Obtained navigation function enables continuous convergent navigation where gradient direction is computed to steer the robot towards the goal. Model predictive control using particle swarm optimization is applied to find the path within areas of the lowest potential and considering the control effort. The proposed solutions feature simple implementation, at moderate computational effort and with good navigation results.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti



POVEZANOST RADA


Ustanove
Fakultet elektrotehnike i računarstva, Zagreb

Autor s matičnim brojem:
Marija Seder, (267666)

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