Please use this identifier to cite or link to this item:
https://hdl.handle.net/20.500.14279/2923
Title: | Nonholonomic stabilization with collision avoidance for mobile robots |
Authors: | Tanner, Herbert G. Kyriakopoulos, Kostas J. Loizou, Savvas |
metadata.dc.contributor.other: | Λοΐζου, Σάββας |
Keywords: | Computer simulation;Mobile robots;Feedback control systems;Navigation |
Issue Date: | 2001 |
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. |
URI: | https://hdl.handle.net/20.500.14279/2923 |
ISBN: | 0-7803-6612-3 |
DOI: | 10.1109/IROS.2001.977149 |
Rights: | © IEEE |
Type: | Book Chapter |
Affiliation: | National Technical University Of Athens |
Appears in Collections: | Κεφάλαια βιβλίων/Book chapters |
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