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Title: Closed loop navigation for mobile agents in dynamic environments
Authors: Tanner, Herbert G.
Kumar, Vijay R.
Loizou, Savvas 
Keywords: Computer simulation;Mobile robots;Navigation
Issue Date: 2003
Publisher: IEEE
Source: IEEE International Conference on Intelligent Robots and Systems, 2003, Volume 4, Pages 3769-3774
Abstract: We apply a novel motion planning and control methodology, which is based on a non-smooth navigation function, to a point mobile robot moving amongst moving obstacles. The chattering introduced by the discontinuous potential field is suppressed using nonsmooth backstepping. The combined controller guarantees global asymptotic convergence and collision avoidance. This controller is particularly suitable for real time implementation on systems with limited computational resources. The effectiveness of the proposed scheme is verified through computer simulations.
ISBN: 0-7803-7860-1
Rights: © IEEE
Type: Book Chapter
Appears in Collections:Κεφάλαια βιβλίων/Book chapters

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