Closed loop navigation for multiple holonomic vehicles

Loizou, SG; Kyriakopoulos, KJ

dc.contributor.author	Loizou, SG	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:42:05Z
dc.date.available	2014-03-01T02:42:05Z
dc.date.issued	2002	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/30770
dc.subject	Collision Avoidance	en
dc.subject	Global Convergence	en
dc.subject	Potential Function	en
dc.subject	Real-time Implementation	en
dc.subject	Robot Navigation	en
dc.subject.other	Closed loop control systems	en
dc.subject.other	Collision avoidance	en
dc.subject.other	Computer simulation	en
dc.subject.other	Maps	en
dc.subject.other	Motion control	en
dc.subject.other	Robustness (control systems)	en
dc.subject.other	Closed loop navigation	en
dc.subject.other	Global convergence	en
dc.subject.other	Multiple holonomic vehicles	en
dc.subject.other	Navigation functions	en
dc.subject.other	Mobile robots	en
dc.title	Closed loop navigation for multiple holonomic vehicles	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/IRDS.2002.1041704	en
heal.identifier.secondary	http://dx.doi.org/10.1109/IRDS.2002.1041704	en
heal.publicationDate	2002	en
heal.abstract	We extend the navigation function methodology, established for single robot navigation, to the case of multiple robots. Appropriate expressions for the robot potential functions guarantee global convergence. The derived closed form navigation function provides a robust navigation scheme, suitable for real time implementation. The collision avoidance and global convergence properties are verified through simulations.	en
heal.journalName	IEEE International Conference on Intelligent Robots and Systems	en
dc.identifier.doi	10.1109/IRDS.2002.1041704	en
dc.identifier.volume	3	en
dc.identifier.spage	2861	en
dc.identifier.epage	2866	en