A novel robot navigation algorithm with global path generation capability is presented. Local minimum is a most intractable but is an encountered frequently problem in potential field based robot navigation.Through ap...A novel robot navigation algorithm with global path generation capability is presented. Local minimum is a most intractable but is an encountered frequently problem in potential field based robot navigation.Through appointing appropriately some virtual local targets on the journey, it can be solved effectively. The key concept employed in this algorithm are the rules that govern when and how to appoint these virtual local targets. When the robot finds itself in danger of local minimum, a virtual local target is appointed to replace the global goal temporarily according to the rules. After the virtual target is reached, the robot continues on its journey by heading towards the global goal. The algorithm prevents the robot from running into local minima anymore. Simulation results showed that it is very effective in complex obstacle environments.展开更多
In this paper, we investigate the global controllability of a class of n-dimensional affine nonlinear systems with n- 1 controls and constant control matrix. A necessary and sufficient condition for its global control...In this paper, we investigate the global controllability of a class of n-dimensional affine nonlinear systems with n- 1 controls and constant control matrix. A necessary and sufficient condition for its global controllability has been obtained by using the methods recently developed. Furthermore, we generalize the above result to a class of affine nonlinear systems with a block-triangular-like structure. Finally, we will give three examples to show the applications of our results.展开更多
文摘A novel robot navigation algorithm with global path generation capability is presented. Local minimum is a most intractable but is an encountered frequently problem in potential field based robot navigation.Through appointing appropriately some virtual local targets on the journey, it can be solved effectively. The key concept employed in this algorithm are the rules that govern when and how to appoint these virtual local targets. When the robot finds itself in danger of local minimum, a virtual local target is appointed to replace the global goal temporarily according to the rules. After the virtual target is reached, the robot continues on its journey by heading towards the global goal. The algorithm prevents the robot from running into local minima anymore. Simulation results showed that it is very effective in complex obstacle environments.
基金The research was supported by the National Natural Science Foundation of China under Grant No. 50525721, 60221301, and 60334040, and China Postdoctoral Science Foundation under Grant No. 20060390470. Acknowledgment The authors would like to thank Prof. Lei GUO for his very valuable discussions and suggestions.
文摘In this paper, we investigate the global controllability of a class of n-dimensional affine nonlinear systems with n- 1 controls and constant control matrix. A necessary and sufficient condition for its global controllability has been obtained by using the methods recently developed. Furthermore, we generalize the above result to a class of affine nonlinear systems with a block-triangular-like structure. Finally, we will give three examples to show the applications of our results.
