Please use this identifier to cite or link to this item:
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;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.
ISBN: 0-7803-6612-3
DOI: 10.1109/IROS.2001.977149
Rights: © IEEE
Type: Book Chapter
Appears in Collections:Κεφάλαια βιβλίων/Book chapters

Show full item record

Page view(s) 20

Last Week
Last month
checked on Sep 22, 2019

Google ScholarTM



Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.