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Classical motion planners and most of navigation routines discard dynamics of the system and therefore fail in some special conditions. If a robot is moving towards an obstacle with a high acceleration and speed, collision is inevitable because the obstacles are taken into account only either once they are in range, or a physical collision is reported by detection routines. In this paper, we have...
Formation building and keeping among vehicles has been studied for many years, since 1987 with Reynolds' rules [1]. This paper presents a control algorithm, based on recent work in graph theory, able to reconfigure static formations of non-holonomic vehicles endowed solely with local positioning capabilities. The convergence of our approach is mathematically proven and applied to a realistic robotic...
In this paper a combined action/perception-oriented approach for behavior-based robot software design is proposed. Action-oriented in that context denotes that the requirements for sensor information are directly derived from the navigational tasks on the control level. Perception-oriented design on the other hand determines further supporting behaviors from the data available. Taking into account...
The paper describes the design of the fuzzy control system for an autonomous robot car which operates in unknown, unpredictable, and dynamic environment. The fuzzy control system must provide the fusing of data from multiple sensors and must ensure navigation of the autonomous robot car. Both - an obstacle avoidance control strategy and a target tracking control strategy - are used for the control...
The use of wireless network signal strength proposed to estimate the relative position between vehicles in a robot formation set. We propose a relative leader-follower model which allows us to use the reception signal strength as control variable for robot stabilization in the formation. Vehicle sensors consist of wheel speed and steering angle, the WiFi data consist of reception signal strength (RSS)...
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