Reactive Magnetic-Field-Inspired Navigation for Non-Holonomic Mobile Robots in Unknown Environments

Reactive Magnetic-Field-Inspired Navigation Method for Robots in Unknown Convex 3-D Environments

“…Our approach also provides a clear improvement over gyroscopic force based approaches [19]- [25] as our method is designed to be generic so that it can be used not only for planar mobile robots but also for robots in 3D environments with an unknown arbitrarily shaped convex obstacle. This work extends our previous work which describes the preliminary formulation of the magnetic-field-inspired navigation method applied to mobile robot operating in planar environments only [26]. To the best of our knowledge, this is the first time a general reactive navigation method exploiting magnetic field properties is applied to the problem of robot navigation in 3D environments without prior knowledge of obstacles and capable of guiding the robot to the goal in a globally stable way.…”

Kinematic Control and Obstacle Avoidance for Soft Inflatable Manipulator

“…To achieve obstacle avoidance, the magnetic-field-inspired obstacle avoidance based on the previous works described in [1], [2], [4], is employed. The obstacle avoidance algorithm is inspired by a phenomenon observed when a charged particle moves close to a current-carrying wire.…”

Magnetic-Field-Inspired Navigation for Quadcopter Robot in Unknown Environments

“…The basic algorithm described in this section is similar to the magnetic-field-inspired navigation described in our previous works [15]- [16]. The robot, while moving in the vicinity of the obstacle, will induce an artificial electric current l o on the obstacle as a projection of the robot's velocity onto the obstacle surface as depicted in Fig.…”

“…In this paper, a reactive robot navigation algorithm inspired by the natural magnetic field phenomena (as has been reported in the authors' previous works [15]- [16]) is used to navigate a micro-aerial vehicle, specifically an underactuated quadcopter system, towards the desired position in 3D environments while avoiding convex obstacles along the way without getting trapped in local minima configurations. The reactive nature of the algorithm enables the flying robots to exploit the most-updated environmental information gathered by a local sensor to produce a motion command in real-time.…”