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Pregled bibliografske jedinice broj: 1030212

Wheeled robot navigation based on a unimodal potential function

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.).
Peking: Institute of Electrical and Electronics Engineers (IEEE), 2019. 8862144, 5 doi:10.1109/CITS.2019.8862144 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)

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Naslov
Wheeled robot navigation based on a unimodal potential function

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

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 - Peking : Institute of Electrical and Electronics Engineers (IEEE), 2019

ISBN
978-1-7281-1374-6

Skup
International Conference on Computer, Information and Telecommunication Systems (CITS 2019)

Mjesto i datum
Peking, Kina, 28.08.2019. - 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

Profili:

Avatar Url Marija Seder (autor)

Poveznice na cjeloviti tekst rada:

doi

Citiraj ovu publikaciju:

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.).
Peking: Institute of Electrical and Electronics Engineers (IEEE), 2019. 8862144, 5 doi:10.1109/CITS.2019.8862144 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
Klančar, G., Mušič, G., Chen, H. & Seder, M. (2019) Wheeled robot navigation based on a unimodal potential function. U: Obaidat, M., Mi, Z., Hsiao, K., Nicopolitidis, P. & Cascado-Caballero, D. (ur.)International Conference on Computer, Information and Telecommunication Systems - CITS 2019 doi:10.1109/CITS.2019.8862144.
@article{article, author = {Klan\v{c}ar, Gregor and Mu\v{s}i\v{c}, Ga\v{s}per and Chen, Hao and Seder, Marija}, year = {2019}, pages = {5}, DOI = {10.1109/CITS.2019.8862144}, chapter = {8862144}, keywords = {Navigation , potential field , motion control , model predictive control , path planning}, doi = {10.1109/CITS.2019.8862144}, isbn = {978-1-7281-1374-6}, title = {Wheeled robot navigation based on a unimodal potential function}, keyword = {Navigation , potential field , motion control , model predictive control , path planning}, publisher = {Institute of Electrical and Electronics Engineers (IEEE)}, publisherplace = {Peking, Kina}, chapternumber = {8862144} }
@article{article, author = {Klan\v{c}ar, Gregor and Mu\v{s}i\v{c}, Ga\v{s}per and Chen, Hao and Seder, Marija}, year = {2019}, pages = {5}, DOI = {10.1109/CITS.2019.8862144}, chapter = {8862144}, keywords = {Navigation , potential field , motion control , model predictive control , path planning}, doi = {10.1109/CITS.2019.8862144}, isbn = {978-1-7281-1374-6}, title = {Wheeled robot navigation based on a unimodal potential function}, keyword = {Navigation , potential field , motion control , model predictive control , path planning}, publisher = {Institute of Electrical and Electronics Engineers (IEEE)}, publisherplace = {Peking, Kina}, chapternumber = {8862144} }

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