A globally converging algorithm for reactive robot navigation among moving and deforming obstacles

• Alexey S. Matveev ^[1] ; Michael C. Hoy ^[2] ; Andrey V. Savkin ^[2]
  1. [1] Department of Mathematics and Mechanics, Saint Petersburg University, Universitetskii 28, Petrodvoretz, St.Petersburg, 198504, Russia
  2. [2] School of Electrical Engineering and Telecommunications, The University of New South Wales, Sydney 2052, Australia
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 54, 2015, págs. 292-304
• Idioma: inglés
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• Resumen

  • We present a reactive strategy for the navigation of a mobile robot in dynamic a priori unknown environments densely cluttered with moving and deforming obstacles. Mathematically rigorous analysis of this law with the proof of its global convergence is provided; its performance is confirmed by computer simulations.