{"title":"非完整三维机器人在未知类隧道环境中的无碰撞导航方法","authors":"A. Savkin, Chao Wang","doi":"10.1109/ROBIO.2017.8324537","DOIUrl":null,"url":null,"abstract":"A non-holonomic 3D robot or autonomous vehicle with a bounded control input travels in a complex unknown tunnel like 3D environment. We propose a 3D navigation strategy to move through a tunnel while keeping a safe distance from the tunnel wall. A mathematically rigorous analysis of the proposed 3D robot navigation algorithm is given. Computer simulation results confirm the applicability and performance of the proposed navigation approach. The navigation law can be applied to both underwater autonomous vehicles and unmanned aerial vehicles.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":"{\"title\":\"A method for collision free navigation of non-holonomic 3D robots in unknown tunnel like environments\",\"authors\":\"A. Savkin, Chao Wang\",\"doi\":\"10.1109/ROBIO.2017.8324537\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A non-holonomic 3D robot or autonomous vehicle with a bounded control input travels in a complex unknown tunnel like 3D environment. We propose a 3D navigation strategy to move through a tunnel while keeping a safe distance from the tunnel wall. A mathematically rigorous analysis of the proposed 3D robot navigation algorithm is given. Computer simulation results confirm the applicability and performance of the proposed navigation approach. The navigation law can be applied to both underwater autonomous vehicles and unmanned aerial vehicles.\",\"PeriodicalId\":197159,\"journal\":{\"name\":\"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"volume\":\"19 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2017-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"4\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBIO.2017.8324537\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBIO.2017.8324537","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A method for collision free navigation of non-holonomic 3D robots in unknown tunnel like environments
A non-holonomic 3D robot or autonomous vehicle with a bounded control input travels in a complex unknown tunnel like 3D environment. We propose a 3D navigation strategy to move through a tunnel while keeping a safe distance from the tunnel wall. A mathematically rigorous analysis of the proposed 3D robot navigation algorithm is given. Computer simulation results confirm the applicability and performance of the proposed navigation approach. The navigation law can be applied to both underwater autonomous vehicles and unmanned aerial vehicles.
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