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

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	2014-03-01T02:41:15Z
dc.date.available	2014-03-01T02:41:15Z
dc.date.issued	1996	en
dc.identifier.issn	10504729	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/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