Range-sensor based navigation of a unicycle-like mobile robot in cluttered environments
Alexey S. Matveev, Hamid Teimoori, Andrey V. Savkin · 2010
We consider the problem of navigation of a Dubins-like robot towards a target in cluttered environments. Only the distance to the enroute obstacles is available to the controller. We introduce a new sliding mode control method for the safe navigation and present its mathematically rigorous analysis. The effectiveness of the proposed guidance law is confirmed by illustrative examples and computer simulations.