| Guidance Based Methods for Real-Time Navigation of Mobile Robots Contributor(s): Kunwar, Faraz (Author), Benhabib, Beno (Author) |
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ISBN: 3843374589 ISBN-13: 9783843374583 Publisher: LAP Lambert Academic Publishing OUR PRICE: $69.77 Product Type: Paperback Published: January 2011 |
| Additional Information |
| BISAC Categories: - Technology & Engineering | Engineering (general) |
| Physical Information: 0.38" H x 6" W x 9" (0.55 lbs) 164 pages |
| Descriptions, Reviews, Etc. |
| Publisher Description: Real-time motion-planning in autonomous vehicle navigation applications has typically referred to the on-line trajectory-planning problem to reach a designated location in minimal time. In this context, past research achievements have been subjected to three main limitations: (i) only the problem of interception (position matching) has been considered, whereas the problem of rendezvous (velocity matching) has not been rigorously investigated; (ii) obstacles have been commonly treated as moving with constant velocity as opposed to being highly maneuverable and following a priori unknown trajectories; and, (iii) mostly, structured indoor terrains have been considered. This book addresses the above drawbacks by proposing the use of guidance-based methods that can be used by an autonomous vehicle to accurately and safely maneuver in the presence of dynamic obstacles on realistic terrains. The objective is time-optimal rendezvous with static or dynamic targets. The proposed methods minimizes rendezvous time and energy consumption, by directly considering the dynamics of the obstacles and the target, while accurately determining a feasible way to travel through an uneven terrain. |
