Nonholonomic stabilization with collision avoidance for mobile robots

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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