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Potential fields for nonholonomic vehicles

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dc.contributor.author Kyriakopoulos, KJ en
dc.contributor.author Kakambouras, P en
dc.contributor.author Krikelis, NJ en
dc.date.accessioned 2014-03-01T02:41:07Z
dc.date.available 2014-03-01T02:41:07Z
dc.date.issued 1995 en
dc.identifier.uri http://hdl.handle.net/123456789/30370
dc.subject Collision Avoidance en
dc.subject Potential Field en
dc.subject Real Time en
dc.subject.other Approximation theory en
dc.subject.other Collision avoidance en
dc.subject.other Errors en
dc.subject.other Feedback en
dc.subject.other Mathematical techniques en
dc.subject.other Motion planning en
dc.subject.other Problem solving en
dc.subject.other Real time systems en
dc.subject.other Tracking (position) en
dc.subject.other Collision free path en
dc.subject.other Nonholonomic vehicles en
dc.subject.other Potential fields en
dc.subject.other Mobile robots en
dc.title Potential fields for nonholonomic vehicles en
heal.type conferenceItem en
heal.identifier.primary 10.1109/ISIC.1995.525099 en
heal.identifier.secondary http://dx.doi.org/10.1109/ISIC.1995.525099 en
heal.publicationDate 1995 en
heal.abstract The problem of motion planning of a wheeled nonholonomic vehicle is treated by decomposing the problem to the subproblems: (i) find a collision free path and (ii) approximate this path with a nonholonomic collision free path. This is treated, in real time, by solving the first subproblem using a potential fields strategy and the second with nonholonomic tracking. Thus, collision avoidance of a nonholonomic wheeled vehicle in a feedback formulation is achieved. en
heal.publisher IEEE, Piscataway, NJ, United States en
heal.journalName IEEE International Symposium on Intelligent Control - Proceedings en
dc.identifier.doi 10.1109/ISIC.1995.525099 en
dc.identifier.spage 461 en
dc.identifier.epage 465 en


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