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|Title:||Nonholonomic stabilization with collision avoidance for mobile robots||Authors:||Tanner, Herbert G.
Kyriakopoulos, Kostas J.
|Keywords:||Computer simulation;Mobile robots;Feedback control systems;Navigation||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.||URI:||http://ktisis.cut.ac.cy/handle/10488/7842||ISBN:||0-7803-6612-3||DOI:||10.1109/IROS.2001.977149||Rights:||© IEEE||Type:||Book Chapter|
|Appears in Collections:||Κεφάλαια βιβλίων/Book chapters|
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