Title
Rapid navigation function control for omnidirectional mobile platform
Authors
[ 1 ] Instytut Automatyki i Robotyki, Wydział Informatyki, Politechnika Poznańska | [ P ] employee
Scientific discipline (Law 2.0)
Year of publication
2017
Chapter type
chapter in monograph / paper
Publication language
english
Abstract
EN This paper presents an extension of navigation function used to control an omnidirectional robot. Navigation function is used to control position coordinates while the orientation variable is controlled with simple proportional controller. The extension relies on a specific normalization of navigation function gradient. Presented method results in much more rapid convergence in comparison to classic approach based on negative gradient of the navigation function. The most noticeable result of the extension is observed for high values of κ parameter, which must be increased if the distances between obstacles are small. Experimental results are given to illustrate effectiveness of the proposed algorithm.
Pages (from - to)
137 - 140
Ministry points / chapter
20
Publication indexed in
WoS (15)
System created by Poznań University of Technology
and Poznan Supercomputing and Networking Center
Log in through eKonto to add to SIS