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(Reference retrieved automatically from Web of Science through information on FAPESP grant and its corresponding number as mentioned in the publication by the authors.)

Constructive Time-Varying Vector Fields for Robot Navigation

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Author(s):
Rezende, Adriano M. C. [1] ; Goncalves, Vinicius M. [1] ; Pimenta, Luciano C. A. [1]
Total Authors: 3
Affiliation:
[1] Univ Fed Minas Gerais UFMG, Postgrad Program Elect Engn, BR-31270901 Belo Horizonte, MG - Brazil
Total Affiliations: 1
Document type: Journal article
Source: IEEE Transactions on Robotics; JUL 2021.
Web of Science Citations: 0
Abstract

In this work, we present a methodology to compute an artificial time-varying vector field in \$n\$ dimensions that defines trajectories that converge to and follow a given desired curve. The Euclidean distance function is used to construct the field, which is easily computed from a parametric representation of the curve. The computation of the time feedforward term to compensate for time dependence is such that its norm is limited by the maximum velocity of the curve. This fact allows the normalization of the time-varying vector field such that it has a constant norm without any negative effect for convergence. We present convergence proofs for the proposed normalized time-varying vector field and demonstrate the existence of ultimate bounds in the case bounded disturbances are present. Finally, we show several simulations and experiments with an actual quadrotor to validate our methodology. (AU)

FAPESP's process: 14/50851-0 - INCT 2014: National Institute of Science and Technology for Cooperative Autonomous Systems Applied in Security and Environment
Grantee:Marco Henrique Terra
Support Opportunities: Research Projects - Thematic Grants