Nonholonomic stabilization with collision avoidance for mobile robots

Tanner, HG; Loizou, S; Kyriakopoulos, KJ

dc.contributor.author	Tanner, HG	en
dc.contributor.author	Loizou, S	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:41:56Z
dc.date.available	2014-03-01T02:41:56Z
dc.date.issued	2001	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/30688
dc.subject	Collision Avoidance	en
dc.subject	Global Asymptotic Stability	en
dc.subject	lyapunov function	en
dc.subject	Mobile Robot	en
dc.subject	Obstacle Avoidance	en
dc.subject	Potential Field	en
dc.subject	State Feedback	en
dc.subject.other	Asymptotic stability	en
dc.subject.other	Collision avoidance	en
dc.subject.other	Computer simulation	en
dc.subject.other	Feedback	en
dc.subject.other	Lyapunov methods	en
dc.subject.other	Motion planning	en
dc.subject.other	Navigation	en
dc.subject.other	Lyapunov functions	en
dc.subject.other	Nonholonomic stabilization	en
dc.subject.other	Mobile robots	en
dc.title	Nonholonomic stabilization with collision avoidance for mobile robots	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/IROS.2001.977149	en
heal.identifier.secondary	http://dx.doi.org/10.1109/IROS.2001.977149	en
heal.publicationDate	2001	en
heal.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.	en
heal.journalName	IEEE International Conference on Intelligent Robots and Systems	en
dc.identifier.doi	10.1109/IROS.2001.977149	en
dc.identifier.volume	3	en
dc.identifier.spage	1220	en
dc.identifier.epage	1225	en