Mobile robot navigation control tolerating a change of control interval and environment

摘要

This paper proposes a technique for navigation of a mobile robot which can be used in a dynamic environment where the moving objects exist. Navigation function, which is a type of Artificial Potential Field (APF) method, is adopted to generate and ensure a global navigation path. In addition, State Dependent Ricatti Equation (SDRE) control is combined with it to compensate variation of the control interval, which occurs due to the remote-control delay and variation of control period under a non-real-time OS. Through simulation analysis, it was confirmed that the presented method works well against a step-like variation of the control interval.