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Title: Closed loop navigation for multiple non-holonomic vehicles
Authors: Kyriakopoulos, Kostas J.
Loizou, Savvas 
Keywords: Computer simulation;Feedback control systems;Robots;Fuzzy sets
Issue Date: 2003
Publisher: IEEE
Source: IEEE International Conference on Robotics and Automation, 2003, Taipei, Taiwan
Abstract: In this paper we incorporate dipolar potential fields used for nonholonomic navigation into a novel potential function designed for multi-robot navigation. The derived navigation function is suitable for navigation of multiple nonholonomic vehicles. A properly designed discontinuous feedback control law is applied to steer the nonholonomic vehicles. The derived closed form control scheme provides robust navigation with guaranteed collision avoidance and global convergence properties, as well as fast feedback, rendering the methodology particularly suitable for real time implementation. Collision avoidance and global convergence properties are verified through non-trivial computer simulations.
ISSN: 10504729
DOI: 10.1109/ROBOT.2003.1242255
Rights: © IEEE
Type: Conference Papers
Appears in Collections:Δημοσιεύσεις σε συνέδρια/Conference papers

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