Navigation of nonholonomic vehicles in complex environments with potential fields and tracking

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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 2014-03-01T02:41:15Z
dc.date.available 2014-03-01T02:41:15Z
dc.date.issued 1996 en
dc.identifier.issn 10504729 en
dc.identifier.uri http://hdl.handle.net/123456789/30434
dc.subject Collision Avoidance en
dc.subject Potential Field en
dc.subject.other Collision avoidance en
dc.subject.other Computer simulation en
dc.subject.other Feedback en
dc.subject.other Motion planning en
dc.subject.other Navigation en
dc.subject.other Real time systems en
dc.subject.other Artificial potential fields en
dc.subject.other Final orientation accommodation en
dc.subject.other Nonholonomic tracking en
dc.subject.other Wheeled nonholonomic vehicle en
dc.subject.other Mobile robots en
dc.title Navigation of nonholonomic vehicles in complex environments with potential fields and tracking en
heal.type conferenceItem en
heal.identifier.primary 10.1109/ROBOT.1996.509228 en
heal.identifier.secondary http://dx.doi.org/10.1109/ROBOT.1996.509228 en
heal.publicationDate 1996 en
heal.abstract We treat the problem of navigation of a wheeled nonholonomic vehicle in an clattered environment by: (i) finding, at every instant, a new collision free reference position using potential fields, and (ii) tracking this using nonholonomic tracking. Thus, our feedback solution can be applied in real time and guarantee both convergence to a final position and collision avoidance. The issue of final orientation accommodation is resolved for a number of practical configurations by using a fictitious obstacle around the goal state. en
heal.publisher IEEE, Piscataway, NJ, United States en
heal.journalName Proceedings - IEEE International Conference on Robotics and Automation en
dc.identifier.doi 10.1109/ROBOT.1996.509228 en
dc.identifier.volume 4 en
dc.identifier.spage 3389 en
dc.identifier.epage 3394 en

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