Visual Navigation and Target Tracking Based on Dynamic Approach
Shiqiang Yang, Weiping Fu · 2009
Two behavioral modes of mobile robot: head for target behavior which is a point attractor and obstacle avoidance behavior which is a point repeller, are constructed based on the stability theory of nonlinear differential dynamical system. An intelligent robot behavioral dynamic navigation model is established based on dynamic approach, which is integrated both target navigation behavior and obstacle avoidance behavior. In this model, according to the variation of working environment, the robot could realize the competition between behavioral modes via adjusting coefficients of each behavioral mode. The mobile robot navigation based on this model is simulated by computer and its feasibility is proved. The results show that the model can meet the navigation needs in complicated unknown environment.