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|Title:||Hybrid control of a constrained velocity unicycle with local sensing||Authors:||Oikonomopoulos, Apollon S.
Kyriakopoulos, Kostas J.
|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.||URI:||http://ktisis.cut.ac.cy/handle/10488/7763||ISSN:||01912216||DOI:||10.1109/CDC.2008.4738994||Rights:||© 2008 IEEE|
|Appears in Collections:||Δημοσιεύσεις σε συνέδρια/Conference papers|
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