English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

Navigation functions provide both path and motion planning, which can be usedto ensure obstacle avoidance and convergence in the sphere world. When dealingwith complex and realistic scenarios, constructing a transformation to thesphere world is essential and, at the same time, challenging. This workproposes a novel transformation termed the conformal navigation transformationto achieve collision-free navigation of a robot in a workspace populated withobstacles of arbitrary shapes. The properties of the conformal navigationtransformation, including uniqueness, invariance of navigation properties, andno angular deformation, are investigated, which contribute to the solution ofthe robot navigation problem in complex environments. Based on navigationfunctions and the proposed transformation, feedback controllers are derived forthe automatic guidance and motion control of kinematic and dynamic mobilerobots. Moreover, an iterative method is proposed to construct the conformalnavigation transformation in a multiply-connected workspace, which transformsthe multiply-connected problem into multiple simply-connected problems toachieve fast convergence. In addition to the analytic guarantees, simulationstudies verify the effectiveness of the proposed methodology in workspaces withnon-trivial obstacles.

Conformal Navigation Transformations with Application to Robot Navigation in Complex Workspaces