{"title":"Feasible minimum distance feedback-based-navigation for a differential drive robot in an environment with obstacles","authors":"","doi":"10.1016/j.jfranklin.2024.107253","DOIUrl":null,"url":null,"abstract":"<div><p>Consider a differential drive robot (DDR) equipped with an omnidirectional sensor that provides the distances from the robot to corners and walls in a simply connected polygonal environment. Furthermore, the robot does not know a global geometric representation of the world and does not know its position in a global reference frame either. This paper addresses the problem of executing the DDR motion with closed-loop controllers to make the center of the robot travel the smallest distance in the environment to attain a goal configuration modeled as a landmark. As a result, the principal contribution of this article is a closed-loop optimal navigation strategy that does not require the availability of a global geometric map. A formal analysis on the optimality of the task is provided and experiments in a physical DDR are also given. These experiments show the practical viability of the proposed theoretical modeling.</p></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":null,"pages":null},"PeriodicalIF":3.7000,"publicationDate":"2024-09-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of The Franklin Institute-engineering and Applied Mathematics","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0016003224006744","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
Consider a differential drive robot (DDR) equipped with an omnidirectional sensor that provides the distances from the robot to corners and walls in a simply connected polygonal environment. Furthermore, the robot does not know a global geometric representation of the world and does not know its position in a global reference frame either. This paper addresses the problem of executing the DDR motion with closed-loop controllers to make the center of the robot travel the smallest distance in the environment to attain a goal configuration modeled as a landmark. As a result, the principal contribution of this article is a closed-loop optimal navigation strategy that does not require the availability of a global geometric map. A formal analysis on the optimality of the task is provided and experiments in a physical DDR are also given. These experiments show the practical viability of the proposed theoretical modeling.
期刊介绍:
The Journal of The Franklin Institute has an established reputation for publishing high-quality papers in the field of engineering and applied mathematics. Its current focus is on control systems, complex networks and dynamic systems, signal processing and communications and their applications. All submitted papers are peer-reviewed. The Journal will publish original research papers and research review papers of substance. Papers and special focus issues are judged upon possible lasting value, which has been and continues to be the strength of the Journal of The Franklin Institute.