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Title: Hybrid control of a constrained velocity unicycle with local sensing
Authors: Oikonomopoulos, Apollon S.
Kyriakopoulos, Kostas J.
Loizou, Savvas 
Keywords: Speed
Computer simulation
Mobile robots
Issue Date: 2008
Publisher: IEEE
Source: 47th IEEE Conference on Decision and Control CDC, 2008, Cancun, Mexico
Abstract: This paper introduces a hybrid control scheme for steering a non-holonomic agent with limited sensing capabilities and input constraints through a stationary but unknown workspace, occupied by arbitrarily shaped obstacles. The considered constraints (i.e. constant linear and bounded angular velocities) apply to a wide category of vehicle systems. Limited sensing is realized by a radially bounded sensing device. The proposed hybrid controller respects the kinematic constraints while guaranteeing obstacle avoidance and convergence to a specified goal configuration. In addition to the analytical guarantees, we demonstrate the effectiveness of the proposed hybrid control scheme through non-trivial computer simulations.
ISSN: 01912216
DOI: 10.1109/CDC.2008.4738994
Rights: © 2008 IEEE
Appears in Collections:Δημοσιεύσεις σε συνέδρια/Conference papers

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