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Title: Nonholonomic stabilization with collision avoidance for mobile robots
Authors: Tanner, Herbert G.
Kyriakopoulos, Kostas J.
Loizou, Savvas 
Keywords: Computer simulation
Mobile robots
Feedback control systems
Issue Date: 2001
Publisher: IEEE
Source: IEEE International Conference on Intelligent Robots and Systems, 2001, Volume 3, Pages 1220-1225
Abstract: This paper presents a motion planner and nonholonomic controller for a mobile robot, with global collision avoidance and convergence properties. An appropriately designed (dipolar) potential field is combined with discontinuous state feedback. A new class of Lyapunov functions is introduced and used for nonholonomic navigation. The obstacle avoidance and global asymptotic stability properties are verified through simulations.
ISBN: 0-7803-6612-3
DOI: 10.1109/IROS.2001.977149
Rights: © IEEE
Appears in Collections:Κεφάλαια βιβλίων/Book chapters

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