TY - GEN
T1 - Periodic trajectories of mobile robots
AU - Nilles, Alexandra Q.
AU - Becerra, Israel
AU - Lavalle, Steven M.
N1 - Funding Information:
ACKNOWLEDGMENT This work is supported by NSF grant 1035345, NSF grant 1328018, and CONACyT post-doctoral fellowship 277028. The authors would like to thank Michael Zeng for his contributions to the fixed-point formulation of the problem.
Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/13
Y1 - 2017/12/13
N2 - Differential drive robots, such as robotic vacuums, often have at least two motion primitives: the ability to travel forward in straight lines, and rotate in place upon encountering a boundary. They are often equipped with simple sensors such as contact sensors or range finders, which allow them to measure and control their heading angle with respect to environment boundaries. We aim to find minimal control schemes for creating stable, periodic 'patrolling' dynamics for robots that drive in straight lines and 'bounce' off boundaries at controllable angles. As a first step toward analyzing high-level mobile robot dynamics in more general environments, we analyze the location and stability of periodic orbits in regular polygons. The contributions of this paper are: 1) proving the existence of periodic trajectories in n-sided regular polygons and showing the range of bounce angles that will produce such trajectories; 2) an analysis of their stability and robustness to modeling errors; and 3) a closed form solution for the points where the robot collides with the environment boundary while patrolling. We present simulations confirming our theoretical results.
AB - Differential drive robots, such as robotic vacuums, often have at least two motion primitives: the ability to travel forward in straight lines, and rotate in place upon encountering a boundary. They are often equipped with simple sensors such as contact sensors or range finders, which allow them to measure and control their heading angle with respect to environment boundaries. We aim to find minimal control schemes for creating stable, periodic 'patrolling' dynamics for robots that drive in straight lines and 'bounce' off boundaries at controllable angles. As a first step toward analyzing high-level mobile robot dynamics in more general environments, we analyze the location and stability of periodic orbits in regular polygons. The contributions of this paper are: 1) proving the existence of periodic trajectories in n-sided regular polygons and showing the range of bounce angles that will produce such trajectories; 2) an analysis of their stability and robustness to modeling errors; and 3) a closed form solution for the points where the robot collides with the environment boundary while patrolling. We present simulations confirming our theoretical results.
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U2 - 10.1109/IROS.2017.8206140
DO - 10.1109/IROS.2017.8206140
M3 - Conference contribution
AN - SCOPUS:85041966767
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3020
EP - 3026
BT - IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
Y2 - 24 September 2017 through 28 September 2017
ER -