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Modified Newton's method applied to potential field-based navigation for nonholonomic robots in dynamic environments

Published online by Cambridge University Press:  01 January 2008

Jing Ren ,
Kenneth A. McIsaac  and
Rajni V. Patel
Jing Ren
Affiliation:
Faculty of Engineering and Applied Science, UOIT, Oshawa, ON, Canada1LH 7K4.
Kenneth A. McIsaac*
Affiliation:
Department of Electrical and Computer Engineering, University of Western Ontario, London, ON, CanadaN6G 1H1
Rajni V. Patel
Affiliation:
Department of Electrical and Computer Engineering, University of Western Ontario, London, ON, CanadaN6G 1H1
*
*Corresponding author. E-mail: kmcisaac@engga.uwo.ca.
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Summary

This paper is to investigate inherent oscillations problems of potential field methods (PFMs) for nonholonomic robots in dynamic environments. In prior work, we proposed a modification of Newton's method to eliminate oscillations for omnidirectional robots in static environment. In this paper, we develop control laws for nonholonomic robots in dynamic environment using modifications of Newton's method. We have validated this technique in a multi-robot search-and-forage task. We found that the use of the modifications of Newton's method, which applies anywhere C2 continuous navigation functions are defined, can greatly reduce oscillations and speed up the robot's movement, when compared to the standard gradient approaches.

Type
Article
Information
Robotica , Volume 26 , Issue 1 , January 2008 , pp. 117 - 127
Copyright
Copyright © Cambridge University Press 2007

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