Potential fields for nonholonomic vehicles

Kyriakopoulos, KJ; Kakambouras, P; Krikelis, NJ

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	https://dspace.lib.ntua.gr/xmlui/handle/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