Show simple item record

dc.contributor.authorAxelsson, Henrik
dc.contributor.authorEgerstedt, Magnus B.
dc.contributor.authorWardi, Yorai
dc.date.accessioned2011-04-20T20:57:26Z
dc.date.available2011-04-20T20:57:26Z
dc.date.issued2005-06
dc.identifier.citationH. Axelsson, M. Egerstedt, and Y. Wardi. Reactive Robot Navigation Using Optimal Timing Control. American Control Conference, Portland, Oregon, June 2005.en_US
dc.identifier.issn0743-1619
dc.identifier.urihttp://hdl.handle.net/1853/38655
dc.description(c) 2005 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.en_US
dc.descriptionDigital Object Identifier : 10.1109/ACC.2005.1470776
dc.description.abstractIn this paper a solution is presented for the problem of avoiding obstacles while progressing towards a goal for a single robot. In particular, an optimal solution is obtained by allowing the robot to switch between a fixed number of behaviors and optimizing over what behaviors to use and when to switch between them. We moreover show that the structure of the switch law only depends on the distance between the obstacle and the goal. Hence, once initial simulations are done, the structure of the guard is known to the robot and, given that the robot knows the distance between the obstacle and the goal, it knows when to switch to obtain the optimal solution. Therefore the solution lends itself to real-time implementations. The feasibility of the approach is verified in real robotics experiments.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectCollision avoidanceen_US
dc.subjectRobotic navigationen_US
dc.subjectOptimal timing controlen_US
dc.titleReactive Robot Navigation Using Optimal Timing Controlen_US
dc.typeProceedingsen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Electrical and Computer Engineering
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machines
dc.publisher.originalInstitute of Electrical and Electronics Engineers


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record