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Modified Newton's method applied to potential field based navigation for nonholonomic robots in dynamic environments

Published online by Cambridge University Press:  01 May 2008

Jing Ren ,
Kenneth A. McIsaac  and
Rajni V. Patel
Jing Ren
Affiliation:
Faculty of Engineering and Applied Science, University of Ontario Institute of Technology, Oshawa, Ontario, Canada1 LH 7K4
Kenneth A. McIsaac*
Affiliation:
Department of Electrical and Computer Engineering, University of western Ontario, London, Ontario, CanadaN 6 G 1 H 1
Rajni V. Patel
Affiliation:
Department of Electrical and Computer Engineering, University of western Ontario, London, Ontario, CanadaN 6 G 1 H 1
*
*Corresponding author. E-mail: kmcisaac@engga.uwo.ca
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Summary

This paper is to investigate inherent oscillations problems of Potential Field Methods (PFMs) for nonholonomic robots in dynamic environments. In prior work, we proposed a modification of Newton's method to eliminate oscillations for omnidirectional robots in static environment. In this paper, we develop control laws for nonholonomic robots in dynamic environment using modifications of Newton's method. We have validated this technique in a multirobot search-and-forage task. We found that the use of the modifications of Newton's method, which applies anywhere C2 continuous navigation functions are defined, can greatly reduce oscillations and speed up robot's movement, when compared to the standard gradient approaches.

Keywords

Potential field methodsnonholonomic constraintsmobile robotics

Information

Type
Article
Information
Robotica , Volume 26 , Issue 3 , May 2008 , pp. 285 - 294
Copyright
Copyright © Cambridge University Press 2007

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