TitleHigher order method for non linear equations resolution: application to mobile robot control
Publication TypeConference Paper
Year of Publication2007
Conference NameProc. European Control Conference
Publication Languageeng
AuthorsBalestrino, A, Pallottino, L
KeywordsAutonomous Vehicles, Navigation and Planning
AbstractIn this paper a novel higher order method for the resolution of non linear equations is proposed. The particular application to the mobile robot navigation in an environment with obstacles is considered. The proposed method is based on the {\em embedded-relaxed} approach in which the dimension of the resolution space is augmented and a different and faster direction toward the root is computed. The method is proved to converge with higher order for the augmented resolution space of dimension 2 and 3. Finally, the method is applied to the problem of mobile robot navigation between obstacles considered as repulsive potentials.
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