Please use this identifier to cite or link to this item:
https://hdl.handle.net/20.500.14279/2416
Title: | Hybrid control of a constrained velocity unicycle with local sensing |
Authors: | Oikonomopoulos, Apollon S. Kyriakopoulos, Kostas J. Loizou, Savvas |
metadata.dc.contributor.other: | Λοΐζου, Σάββας |
Keywords: | Speed;Computer simulation;Vehicles;Mobile robots |
Issue Date: | 2008 |
Source: | 47th IEEE Conference on Decision and Control CDC, 2008, Cancun, Mexico |
Abstract: | This paper introduces a hybrid control scheme for steering a non-holonomic agent with limited sensing capabilities and input constraints through a stationary but unknown workspace, occupied by arbitrarily shaped obstacles. The considered constraints (i.e. constant linear and bounded angular velocities) apply to a wide category of vehicle systems. Limited sensing is realized by a radially bounded sensing device. The proposed hybrid controller respects the kinematic constraints while guaranteeing obstacle avoidance and convergence to a specified goal configuration. In addition to the analytical guarantees, we demonstrate the effectiveness of the proposed hybrid control scheme through non-trivial computer simulations. |
URI: | https://hdl.handle.net/20.500.14279/2416 |
ISSN: | 01912216 |
DOI: | 10.1109/CDC.2008.4738994 |
Rights: | © 2008 IEEE |
Type: | Conference Papers |
Affiliation: | National Technical University Of Athens |
Appears in Collections: | Δημοσιεύσεις σε συνέδρια /Conference papers or poster or presentation |
CORE Recommender
Sorry the service is unavailable at the moment. Please try again later.
Items in KTISIS are protected by copyright, with all rights reserved, unless otherwise indicated.