Please use this identifier to cite or link to this item:
https://hdl.handle.net/20.500.14279/2416
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Oikonomopoulos, Apollon S. | en |
dc.contributor.author | Kyriakopoulos, Kostas J. | en |
dc.contributor.author | Loizou, Savvas | - |
dc.contributor.other | Λοΐζου, Σάββας | - |
dc.date.accessioned | 2013-03-08T13:16:35Z | en |
dc.date.accessioned | 2013-05-17T05:29:51Z | - |
dc.date.accessioned | 2015-12-02T11:22:23Z | - |
dc.date.available | 2013-03-08T13:16:35Z | en |
dc.date.available | 2013-05-17T05:29:51Z | - |
dc.date.available | 2015-12-02T11:22:23Z | - |
dc.date.issued | 2008 | en |
dc.identifier.citation | 47th IEEE Conference on Decision and Control CDC, 2008, Cancun, Mexico | en |
dc.identifier.issn | 01912216 | en |
dc.identifier.uri | https://hdl.handle.net/20.500.14279/2416 | - |
dc.description.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. | en |
dc.format | en | |
dc.language.iso | en | en |
dc.rights | © 2008 IEEE | en |
dc.subject | Speed | en |
dc.subject | Computer simulation | en |
dc.subject | Vehicles | en |
dc.subject | Mobile robots | en |
dc.title | Hybrid control of a constrained velocity unicycle with local sensing | en |
dc.type | Conference Papers | en |
dc.affiliation | National Technical University Of Athens | en |
dc.identifier.doi | 10.1109/CDC.2008.4738994 | en |
dc.dept.handle | 123456789/54 | en |
item.fulltext | No Fulltext | - |
item.openairecristype | http://purl.org/coar/resource_type/c_c94f | - |
item.openairetype | conferenceObject | - |
item.grantfulltext | none | - |
item.languageiso639-1 | en | - |
item.cerifentitytype | Publications | - |
crisitem.author.dept | Department of Mechanical Engineering and Materials Science and Engineering | - |
crisitem.author.faculty | Faculty of Engineering and Technology | - |
crisitem.author.orcid | 0000-0003-4083-9946 | - |
crisitem.author.parentorg | Faculty of Engineering and Technology | - |
Appears in Collections: | Δημοσιεύσεις σε συνέδρια /Conference papers or poster or presentation |
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