This paper essays a new solution to the landmark navigation problem of planar robots in the presence of randomly fixed obstacles through a new dynamic updating rule involving the orientation and steering angle parameters of a robot. The dynamic updating rule utilizes a first-order nonlinear ordinary differential equation for the changing of landmarks so that whenever a landmark is updated, the path followed by the robot remains continuous and smooth. This waypoints guidance is via specific landmarks selected from a new set of rules governing the robot’s field of view. The governing control laws guarantee asymptotic stability of the 2D point robot system. As an application, the landmark motion planning and control of a car-like mobile robot navigating in the presence of fixed elliptic-shaped obstacles are considered. The proposed control laws take into account the geometrical constraints imposed on steering angle and guarantee eventual uniform stability of the car-like system. Computer simulations, using Matlab software, are presented to illustrate the effectiveness of the proposed technique and its stabilizing algorithm.

中文翻译：

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障碍物密集工作空间中平面机器人地标导航的稳定控制器

本文通过涉及机器人方向和转向角参数的动态更新规则，提出了一种在随机固定障碍物存在下平面机器人地标导航问题的新解决方案。动态更新规则利用一阶非线性常微分方程来更改地标，以便每当更新地标时，机器人遵循的路径都保持连续且平滑。该航点指南是通过从控制机器人视野的一组新规则中选择的特定地标进行的。控制规则确保了二维点机器人系统的渐近稳定性。作为一种应用，考虑了在固定椭圆形障碍物的存在下航行的汽车类移动机器人的地标运动计划和控制。拟议的控制规律考虑了施加在转向角上的几何约束，并保证了类似汽车系统的最终均匀稳定性。提出了使用Matlab软件进行的计算机仿真，以说明该技术及其稳定算法的有效性。