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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