非ホロノミック移動ロボットによる表面スキャンのための反応型3Dナビゲーションアルゴリズムの技術的結果の証明
Proofs of the Technical Results Justifying an Algorithm of Reactive 3D Navigation for a Surface Scan by a Nonholonomic Mobile Robot
未知の滑らかな境界を持つ領域の表面を、非ホロノミック移動ロボットが所定の距離を保ちながら全走査するための、計算負荷の低い反応型ナビゲーション則を提案し、その数学的正当性を証明した論文。
著者: Alexey S. Matveev, Kirill S. Ovchinnikov, Andrey V. Savkin
分類: math.OC, cs.RO
原文アブストラクト
A single nonholonomic under-actuated mobile robot with a bounded control range travels in a 3D workspace. This workspace also hosts a compact unknown domain with a smooth boundary. The robot has access to the horizontal distance to this domain and to a certain direction (typically, vertical) in the space, along with its coordinate (typically, altitude) in this direction. We present a new navigation law that drives the robot to the desired distance to the domain and ensures subsequent full scan of its surface within a desired range of "altitudes". The proposed strategy is computationally inexpensive and achieves full scan at the lowest control level via generating the current control as a simple, reflex-like reaction to the current observation. The paper presents and proves key technical facts underlying mathematically rigorous analysis and justification of the proposed guidance approach.
