A Wandering Braitenberg Vehicle 2b That Densely Covers a Bounded Workspace
Braitenberg vehicles have been used in robotics for decades on an empirical basis. This paper presents the dynamic equations describing the motion of vehicle 2b and derives a wandering control mechanism based on them. Using this controller, a dual-drive vehicle is proved to move continuously on a bounded environment without colliding with obstacles. Unlike other wandering mechanisms, it does not rely on a stochastic component, but instead its motion is determined by a system of deterministic nonlinear differential equations. We prove that, under some assumptions on the workspace and controller, the mechanism generates dense trajectories on the workspace. Dense trajectories are suitable for coverage tasks. Simulations of a robot with range sensing capabilities are used to test the theoretical results. This work presents the application of some of the first formal, non purely empirical, results of Braitenberg vehicles to robotics.
KeywordsPeriodic Solution Equilibrium Point Mobile Robot Stable Manifold Obstacle Avoidance
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