Proving the Stability of the Rolling Navigation
DOI:
https://doi.org/10.14232/actacyb.295941Keywords:
hybrid systems, stability, Poincaré section, interval analysisAbstract
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.Downloads
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Published
2023-02-23
How to Cite
Bourgois, A., Chaabouni, A., Rauh, A., & Jaulin, L. (2023). Proving the Stability of the Rolling Navigation. Acta Cybernetica, 26(1), 5–34. https://doi.org/10.14232/actacyb.295941
Issue
Section
Special Issue of SCAN 2020