A method of reactive control for 3D navigation of a nonholonomic robot in tunnel-like environments

Valentin V. Magerkin
Valentin V. Magerkin

Automatica, pp. 1088312020.

Cited by: 0|Views5
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Abstract:

A nonholonomic under-actuated robot with a bounded control range travels inside an unknown and unstructured 3D tunnel bounded by a generic 2D surface. The robot has access to the nearest point of the surface and measures the distance to the surface along any ray from a narrow beam emitted from the robot around the direction to the nearest...More

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