TY - JOUR
T1 - Adaptation of Gradient-Based Navigation Control for Holonomic Robots to Nonholonomic Robots
AU - Lafmejani, Amir Salimi
AU - Farivarnejad, Hamed
AU - Berman, Spring
N1 - Funding Information:
Manuscript received June 26, 2020; accepted October 19, 2020. Date of publication November 16, 2020; date of current version November 25, 2020. This letter was recommended for publication by Associate Editor Yi Guo and Editor Dezhen Song upon evaluation of the Reviewers’ comments. This work was supported by the Arizona State University Global Security Initiative. (Corresponding author: Amir Salimi Lafmejani.) Amir Salimi Lafmejani is with the School of Electrical, Computer and Energy Engineering, Arizona State University, Tempe, AZ 85287, Arizona (e-mail: asalimil@asu.edu).
Publisher Copyright:
© 2016 IEEE.
PY - 2021/1
Y1 - 2021/1
N2 - In this letter, we propose a gradient-based nonlinear control approach for stabilizing a nonholonomic Wheeled Mobile Robot (WMR) to a target position in environments with and without obstacles. This approach enables any gradient-based feedback control law (with bounded or unbounded gradients) developed for a holonomic point-mass robot model to be adapted to control a nonholonomic robot. The proposed controller is defined in terms of smooth continuous functions, which produce smooth robot trajectories and can be tuned to stabilize the robot to the goal position at a desired convergence rate. We first prove that the controller will stabilize a nonholonomic robot to a target point in an obstacle-free environment. To stabilize the robot's position in environments with obstacles, we modify our controller to utilize the gradient of an artificial potential function and use Lyapunov stability theory to prove that the robot is guaranteed to converge to the target position under this controller. We demonstrate the effectiveness of our controller for various initial robot positions and environments, and two types of potential fields that are widely used in gradient-based methods for obstacle avoidance, through MATLAB simulations and experiments with a commercial nonholonomic WMR.
AB - In this letter, we propose a gradient-based nonlinear control approach for stabilizing a nonholonomic Wheeled Mobile Robot (WMR) to a target position in environments with and without obstacles. This approach enables any gradient-based feedback control law (with bounded or unbounded gradients) developed for a holonomic point-mass robot model to be adapted to control a nonholonomic robot. The proposed controller is defined in terms of smooth continuous functions, which produce smooth robot trajectories and can be tuned to stabilize the robot to the goal position at a desired convergence rate. We first prove that the controller will stabilize a nonholonomic robot to a target point in an obstacle-free environment. To stabilize the robot's position in environments with obstacles, we modify our controller to utilize the gradient of an artificial potential function and use Lyapunov stability theory to prove that the robot is guaranteed to converge to the target position under this controller. We demonstrate the effectiveness of our controller for various initial robot positions and environments, and two types of potential fields that are widely used in gradient-based methods for obstacle avoidance, through MATLAB simulations and experiments with a commercial nonholonomic WMR.
KW - Artificial potential field
KW - nonholonomic constraint
KW - nonlinear controller
KW - obstacle avoidance
KW - wheeled mobile robots
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U2 - 10.1109/LRA.2020.3037855
DO - 10.1109/LRA.2020.3037855
M3 - Article
AN - SCOPUS:85097349691
SN - 2377-3766
VL - 6
SP - 191
EP - 198
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
IS - 1
M1 - 9258372
ER -