Dynamical Systems Framework for Service Robot Navigation Using Bond Graphs

Abstract:

This paper employs a Dynamical Systems Approach to a Wheeled Mobile Robot (WMR) Locomotion problem using an extended Bond Graph model. Bond Graph model of a WMR and its subsystems have been developed and the model and subsystems are validated using 20-Sim Simulation environment. The developed model provides a stable and computationally less intensive framework that can be deployed on resource constrained embedded devices for path planning, navigation and formation modeling.

• Periodical: Advanced Materials Research (Volumes 433-440)
• Pages: 6678-6682
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.433-440.6678
• Online since: January 2012
• Authors: S. Veera Ragavan, Velappa Ganapathy, R.M. Kuppan Chetty
• Keywords: Bond Graph (BG), Dynamic Control, Non-Holonomic Systems, Path Planning, Robot Navigation Framework, Service Robot

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