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Parallel navigation for reaching a moving goal by a mobile robot

Published online by Cambridge University Press:  06 September 2006

F. Belkhouche ,
B. Belkhouche  and
P. Rastgoufard
F. Belkhouche
Affiliation:
Department of Electrical Engineering and Computer Science, Tulane University, New Orleans, LA 70118, USA
B. Belkhouche
Affiliation:
Department of Electrical Engineering and Computer Science, Tulane University, New Orleans, LA 70118, USA
P. Rastgoufard
Affiliation:
Department of Electrical Engineering and Computer Science, Tulane University, New Orleans, LA 70118, USA
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Abstract

In this paper, we present a method for robot navigation toward a moving object with unknown maneuvers. Our strategy is based on the integration of the robot and the target kinematics equations with geometric rules. The tracking problem is modeled in polar coordinates using a two-dimensional system of differential equations. The control law is then derived based on this model. Our approach consists of a rendezvous course, which means that the robot reaches the moving goal without following its path. In the presence of obstacles, two navigation modes are integrated, namely the tracking and the obstacle-avoidance modes. To confirm our theoretical results, the navigation strategy is illustrated using an extensive simulation for different scenarios.

Keywords

Robot navigationParallel navigationDynamic environment
Type
Article
Information
Robotica , Volume 25 , Issue 1 , January 2007 , pp. 63 - 74
Copyright
2006 Cambridge University Press

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