An Interval Approach for Stability Analysis: Application to Sailboat Robotics
Abstract
This paper proposes an interval-based method for the validation of reliable and robust navigation rules for mobile robots. The main idea is to show that for all feasible perturbations, there exists a safe subset of the state space such that the system cannot escape. The methodology is illustrated on the line-following problem of a sailboat and then validated on an actual experiment where an actual sailboat robot, which is named Vaimos, sails autonomously from Brest to Douarnenez (i.e., more than 100 km).
- Publication:
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IEEE Transactions on Robotics
- Pub Date:
- 2013
- DOI:
- Bibcode:
- 2013ITRob..29..282J
- Keywords:
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- Differential inclusion;
- interval analysis;
- line following;
- robotics;
- sailboat;
- stability;
- viability