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Article Dans Une Revue Acta Cybernetica Année : 2023

Proving the Stability of the Rolling Navigation

Auguste Bourgois
Amine Chaabouni
  • Fonction : Auteur
Andreas Rauh

Résumé

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.

Dates et versions

hal-04514613 , version 1 (21-03-2024)

Identifiants

Citer

Auguste Bourgois, Amine Chaabouni, Andreas Rauh, Luc Jaulin. Proving the Stability of the Rolling Navigation. Acta Cybernetica, 2023, 26 (1), pp.5-34. ⟨10.14232/actacyb.295941⟩. ⟨hal-04514613⟩
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