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Safe Robot Navigation Among Moving and Steady Obstacles - 1st Edition - ISBN: 9780128037300, 9780128037577

Safe Robot Navigation Among Moving and Steady Obstacles

1st Edition

Authors: Andrey Savkin Alexey Matveev Michael Hoy Chao Wang
Paperback ISBN: 9780128037300
eBook ISBN: 9780128037577
Imprint: Butterworth-Heinemann
Published Date: 1st September 2015
Page Count: 358
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Safe Robot Navigation Among Moving and Steady Obstacles is the first book to focus on reactive navigation algorithms in unknown dynamic environments with moving and steady obstacles.

The first three chapters provide introduction and background on sliding mode control theory, sensor models, and vehicle kinematics. Chapter 4 deals with the problem of optimal navigation in the presence of obstacles. Chapter 5 discusses the problem of reactively navigating. In Chapter 6, border patrolling algorithms are applied to a more general problem of reactively navigating. A method for guidance of a Dubins-like mobile robot is presented in Chapter 7. Chapter 8 introduces and studies a simple biologically-inspired strategy for navigation a Dubins-car. Chapter 9 deals with a hard scenario where the environment of operation is cluttered with obstacles that may undergo arbitrary motions, including rotations and deformations. Chapter 10 presents a novel reactive algorithm for collision free navigation of a nonholonomic robot in unknown complex dynamic environments with moving obstacles. Chapter 11 introduces and examines a novel purely reactive algorithm to navigate a planar mobile robot in densely cluttered environments with unpredictably moving and deforming obstacles. Chapter 12 considers a multiple robot scenario.

For the Control and Automation Engineer, this book offers accessible and precise development of important mathematical models and results. All the presented results have mathematically rigorous proofs. On the other hand, the Engineer in Industry can benefit by the experiments with real robots such as Pioneer robots, autonomous wheelchairs and autonomous mobile hospital.

Key Features

  • First book on collision free reactive robot navigation in unknown dynamic environments
  • Bridges the gap between mathematical model and practical algorithms
  • Presents implementable and computationally efficient algorithms of robot navigation
  • Includes mathematically rigorous proofs of their convergence
  • A detailed review of existing reactive navigation algorithm for obstacle avoidance
  • Describes fundamentals of sliding mode control


Postgraduate students, researchers and practitioners working in the areas of Robotics, Control Engineering, Communications, Navigation, Modern Control, Computer Science and Applied Mathematics who have an interest in the field of robot navigation.

Table of Contents

  • Preface
  • Abbreviations
  • Frequently used notations
  • 1: Introduction
    • Abstract
    • 1.1 Collision-free navigation of wheeled robots among moving and steady obstacles
    • 1.2 Overview and organization of the book
    • 1.3 Sliding mode control
    • 1.4 Experimental equipment
  • 2: Fundamentals of sliding mode control
    • Abstract
    • 2.1 Introduction
    • 2.2 Sliding motion
    • 2.3 Filippov solutions
  • 3: Survey of algorithms for safe navigation of mobile robots in complex environments
    • Abstract
    • 3.1 Introduction
    • 3.2 Problem considerations
    • 3.3 Model predictive control
    • 3.4 Sensor-based techniques
    • 3.5 Moving obstacles
    • 3.6 Multiple robot navigation
  • 4: Shortest path algorithm for navigation of wheeled mobile robots among steady obstacles
    • Abstract
    • 4.1 Introduction
    • 4.2 System description and main assumptions
    • 4.3 Off-line shortest path planning
    • 4.4 On-line navigation
    • 4.5 Computer simulations
    • 4.6 Experiments with a real robot
  • 5: Reactive navigation of wheeled robots for border patrolling
    • Abstract
    • 5.1 Introduction
    • 5.2 Boundary following using a minimum distance sensor: System description and problem statement
    • 5.3 Main assumptions of theoretical analysis
    • 5.4 Navigation for border patrolling based on minimum distance measurements
    • 5.5 Computer simulations of border patrolling with a minimum distance sensor
    • 5.6 Boundary following with a rigidly mounted distance sensor: Problem setup
    • 5.7 Assumptions of theoretical analysis and tuning of the navigation controller
    • 5.8 Boundary following with a rigidly mounted sensor: Convergence of the proposed navigation law
    • 5.9 Computer simulations of border patrolling with a rigidly mounted distance sensor
    • 5.10 Experiments with a real robot
  • 6: Safe navigation to a target in unknown cluttered static environments based on border patrolling algorithms
    • Abstract
    • 6.1 Navigation for target reaching with obstacle avoidance: Problem statement and navigation strategy
    • 6.2 Assumptions of theoretical analysis and convergence of the navigation strategy
    • 6.3 Computer simulations of navigation with obstacle avoidance
  • 7: Algorithm for reactive navigation of nonholonomic robots in maze-like environments
    • Abstract
    • 7.1 Introduction
    • 7.2 Problem setup and navigation strategy
    • 7.3 Assumptions of theoretical analysis and tuning the navigation law
    • 7.4 Convergence and performance of the navigation law
    • 7.5 Simulations and experiments with a real wheeled robot
    • AppendixA Appendix: Proofs of Proposition 4.1 and Lemmas 4.6 and 4.7
  • 8: Biologically-inspired algorithm for safe navigation of a wheeled robot among moving obstacles
    • Abstract
    • 8.1 Introduction
    • 8.2 Problem description
    • 8.3 Navigation algorithm
    • 8.4 Mathematical analysis of the navigation strategy
    • 8.5 Computer simulations
    • 8.6 Experiments with a laboratorial wheeled robot
    • 8.7 Algorithm implementation with a robotic wheelchair
    • 8.8 Algorithm implementation with a robotic motorized hospital bed
  • 9: Reactive navigation among moving and deforming obstacles: Problems of border patrolling and avoiding collisions
    • Abstract
    • 9.1 Introduction
    • 9.2 System description and border patrolling problem
    • 9.3 Navigation for border patrolling
    • 9.4 Main assumptions
    • 9.5 Main results concerning border patrolling problem
    • 9.6 Illustrative examples of border patrolling
    • 9.7 Navigation in an environment cluttered with moving obstacles
    • 9.8 Simulations
    • 9.9 Experimental results
  • 10: Seeking a path through the crowd: Robot navigation among unknowingly moving obstacles based on an integrated representation of the environment
    • Abstract
    • 10.1 Introduction
    • 10.2 Problem description
    • 10.3 Navigation algorithm
    • 10.4 Mathematical analysis of the navigation strategy
    • 10.5 Computer simulations
    • 10.6 Experiments with a real robot
  • 11: A globally converging reactive algorithm for robot navigation in scenes densely cluttered with moving and deforming obstacles
    • Abstract
    • 11.1 Introduction
    • 11.2 Problem setup
    • 11.3 The navigation algorithm
    • 11.4 Collision avoidance
    • 11.5 Achieving the main navigation objective
    • 11.6 Illustrations of the main results for special scenarios
    • 11.7 Simulations
  • 12: Safe cooperative navigation of multiple wheeled robots in unknown steady environments with obstacles
    • Abstract
    • 12.1 Introduction
    • 12.2 Problem statement
    • 12.3 Proposed navigation system
    • 12.4 Simulation results
    • 12.5 Experimental results with wheeled robots
  • Bibliography
  • Index


No. of pages:
© Butterworth-Heinemann 2016
1st September 2015
Paperback ISBN:
eBook ISBN:

About the Authors

Andrey Savkin

He has authored and co-authored 6 research monographs (published by Springer, Birkhauser and IEEE Press/Wiley) and about 180 journal papers. Almost all Savkin's journal publications are in top international journals. His publications are well cited by other researchers. Savkin has h-index of 34 according to Scopus Index (does not consider books), and h-index of 45 according to

Prof. Savkin served as an Associate and/or Guest Editor for several international journals and numerous international conferences in the field. Currently, he is an Associate Editor for "Automatica" that is the most prestigious journal Elsevier has on Control Engineering, Topic Editor in Chief (Navigation and Control) for International Journal of Advanced Robotic Systems. and an Associate Editor for "Mathematical Problems of Engineering". He is also the Workshop Program Chair for the 2015 IEEE Multi-Conference on Systems and Control.

Affiliations and Expertise

Full Professor, School of Electrical Engineering and Telecommunications, The University of New South Wales, Sydney, Australia

Alexey Matveev

Alexey Matveev

He has authored and co-authored 5 research monograph (published by Birkhauser and IEEE Press/Wiley) and about 100 journal papers. Almost all Matveev's journal publications are in top international journals, such as “Automatica”, “International Journal of Control”, “IEEE Transactions on Automatic Control”. Prof. Matveev is responsible for many theoretical advances in the areas of optimal control, hybrid systems, networked control systems, and robot navigation.

Affiliations and Expertise

Full Professor, Department of Mathematics and Mechanics, Saint Petersburg University, Russia

Michael Hoy

Michael Hoy

Affiliations and Expertise

Quantitative Analyst, Financial services industry

Chao Wang

Affiliations and Expertise

Postdoctoral Researcher, University of New South Wales

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