迷宫环境中非完整机器人反应式导航生物启发算法的技术结果证明
Proofs of the Technical Results Justifying a Biologically Inspired Algorithm for Reactive Navigation of Nonholonomic Robots in Maze-Like Environments
摘要：
我们提出的技术结果证明了一种方法的Dubins一样的车辆与饱和控制对目标在一个稳定的简单连接的迷宫般的环境中的指导。如果在给定的传感器范围内，车辆总是可以获得目标相对方位角和到迷宫最近点的距离。所提出的控制律是由生物启发的反射级规则。数学上严格的分析，这一法律提供了它的收敛性和性能证实了计算机模拟和实验与真正的机器人。
英文摘要：
We present technical results justifying a method for guidance of a Dubins-like vehicle with saturated control towards a target in a steady simply connected maze-like environment. The vehicle always has access to to the target relative bearing angle and the distance to the nearest point of the maze if it is within the given sensor range. The proposed control law is composed by biologically inspired reflex-level rules. Mathematically rigorous analysis of this law is provided; its convergence and performance are confirmed by computer simulations and experiments with real robots.
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