Time-sensitive, sensor-based, joint planning and control of mobile robots in cluttered spaces: A harmonic potential approach

Ahmad A. Masoud; Ali Al-Shaikhi

doi:10.1109/CDC.2015.7402634

Time-sensitive, sensor-based, joint planning and control of mobile robots in cluttered spaces: A harmonic potential approach

Ahmad A. Masoud, Ali Al-Shaikhi

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

9 Scopus citations

Abstract

This paper suggests an integrated navigation control system for time critical missions. The navigation control is derived from a harmonic potential field. It is designed to enable a mobile agent to proceed to a target point in an unknown environment without the need for a dedicated exploration and map-building stage. The agent, en route to the target, collects and processes only the necessary and sufficient sensory data needed to successfully execute the mission. Sensing, processing and all related activities needed to generate mobility are carried-out in real-time at the servo-level. The structure of the navigation control is described in details. Experimental results are provided as a proof of principle.

Original language	English
Title of host publication	54rd IEEE Conference on Decision and Control,CDC 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2761-2766
Number of pages	6
ISBN (Electronic)	9781479978861
DOIs	https://doi.org/10.1109/CDC.2015.7402634
State	Published - 8 Feb 2015

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Bibliographical note

Publisher Copyright:
© 2015 IEEE.

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

Access to Document

10.1109/CDC.2015.7402634

Cite this

Masoud, A. A., & Al-Shaikhi, A. (2015). Time-sensitive, sensor-based, joint planning and control of mobile robots in cluttered spaces: A harmonic potential approach. In 54rd IEEE Conference on Decision and Control,CDC 2015 (pp. 2761-2766). Article 7402634 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2015.7402634

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abstract = "This paper suggests an integrated navigation control system for time critical missions. The navigation control is derived from a harmonic potential field. It is designed to enable a mobile agent to proceed to a target point in an unknown environment without the need for a dedicated exploration and map-building stage. The agent, en route to the target, collects and processes only the necessary and sufficient sensory data needed to successfully execute the mission. Sensing, processing and all related activities needed to generate mobility are carried-out in real-time at the servo-level. The structure of the navigation control is described in details. Experimental results are provided as a proof of principle.",

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Masoud, AA & Al-Shaikhi, A 2015, Time-sensitive, sensor-based, joint planning and control of mobile robots in cluttered spaces: A harmonic potential approach. in 54rd IEEE Conference on Decision and Control,CDC 2015., 7402634, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 2761-2766. https://doi.org/10.1109/CDC.2015.7402634

Time-sensitive, sensor-based, joint planning and control of mobile robots in cluttered spaces: A harmonic potential approach. / Masoud, Ahmad A.; Al-Shaikhi, Ali.
54rd IEEE Conference on Decision and Control,CDC 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 2761-2766 7402634 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Al-Shaikhi, Ali

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N2 - This paper suggests an integrated navigation control system for time critical missions. The navigation control is derived from a harmonic potential field. It is designed to enable a mobile agent to proceed to a target point in an unknown environment without the need for a dedicated exploration and map-building stage. The agent, en route to the target, collects and processes only the necessary and sufficient sensory data needed to successfully execute the mission. Sensing, processing and all related activities needed to generate mobility are carried-out in real-time at the servo-level. The structure of the navigation control is described in details. Experimental results are provided as a proof of principle.

AB - This paper suggests an integrated navigation control system for time critical missions. The navigation control is derived from a harmonic potential field. It is designed to enable a mobile agent to proceed to a target point in an unknown environment without the need for a dedicated exploration and map-building stage. The agent, en route to the target, collects and processes only the necessary and sufficient sensory data needed to successfully execute the mission. Sensing, processing and all related activities needed to generate mobility are carried-out in real-time at the servo-level. The structure of the navigation control is described in details. Experimental results are provided as a proof of principle.

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Masoud AA, Al-Shaikhi A. Time-sensitive, sensor-based, joint planning and control of mobile robots in cluttered spaces: A harmonic potential approach. In 54rd IEEE Conference on Decision and Control,CDC 2015. Institute of Electrical and Electronics Engineers Inc. 2015. p. 2761-2766. 7402634. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/CDC.2015.7402634

Time-sensitive, sensor-based, joint planning and control of mobile robots in cluttered spaces: A harmonic potential approach

Abstract

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ASJC Scopus subject areas

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