证明了滚动导航的稳定性

Acta Cybern. Pub Date : 2023-02-23 DOI:10.14232/actacyb.295941

Auguste Bourgois, A. Chaabouni, A. Rauh, L. Jaulin

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引用次数: 0

摘要

在本文中，我们提出通过测量仅依赖于位置的标量函数φ来研究一种允许机器人在没有指南针的非结构化环境中移动的导航方法的稳定性。原理是让机器人沿φ等值滚动。利用区间方法证明了在φ为线性的特殊情况下闭环系统的稳定性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Proving the Stability of the Rolling Navigation

In this paper, we propose to study the stability of a navigation method that allows a robot to move in an unstructured environment without compass by measuring a scalar function φ which only depends on the position. The principle is to ask the robot to roll along an isovalue of φ . Using an interval method, we prove the stability of our closed loop system in the special case where φ is linear.

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Acta Cybern.

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