Real-time kinematic navigation of a mobile robot among moving obstacles with guaranteed global convergence.
Alexey S. MatveevMichael C. HoyAndrey V. SavkinPublished in: ROBIO (2014)
Keyphrases
- global convergence
- mobile robot
- real time
- obstacle avoidance
- outdoor environments
- robot motion
- indoor environments
- global optimum
- visual navigation
- collision free
- autonomous navigation
- convergence speed
- autonomous vehicles
- convergence analysis
- convergence rate
- path planning
- unknown environments
- optimization methods
- constrained optimization problems
- convex minimization
- autonomous robot navigation
- robot moves
- collision avoidance
- topological map
- line search
- coordinate ascent
- motion planning
- degrees of freedom
- dynamic environments
- moving objects
- step size
- motion control
- mobile robotics
- globally convergent
- free space
- differential evolution
- computational intelligence
- search space
- multiscale
- genetic algorithm