Landmark aided navigation of a point-mass robot via Lyapunov-based control scheme

Abstract

One of the seminal attributes of mobile robots is to navigate accurately in a workspace executing tasks such as collision and obstacle avoidances and target convergence. Use of landmarks has become one of the popular methods to aid in navigation. In this paper, we present a new solution of landmark aided navigation using the Lyapunov-based Control Scheme. We assume a priori knowledge of a set of landmarks in the workspace from which it selects a subset of landmarks deploying specific metrics such as a robot's field of view. This allows the robot to reach its target by maneuvering along normally the safest, smoothest and shortest path. Interesting computer simulations illustrate the effectiveness of the new control laws.