Affiliation:
1. FORSSEA Robotics
2. Ecole Polytechnique
3. Carl von Ossietzky University of Oldenburg
4. ENSTA Bretagne
Abstract
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.
Subject
Computer Vision and Pattern Recognition,Software,Computer Science (miscellaneous),Electrical and Electronic Engineering,Information Systems and Management,Management Science and Operations Research,Theoretical Computer Science