Nonholonomic stabilization with collision avoidance for mobile robots
Date Issued
2001
Author(s)
DOI
10.1109/IROS.2001.977149
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.