Closed Loop Motion Planning and Control for Mobile Robots in Uncertain Environments

Loizou, SG; Tanner, HG; Kumar, V; Kyriakopoulos, KJ

dc.contributor.author	Loizou, SG	en
dc.contributor.author	Tanner, HG	en
dc.contributor.author	Kumar, V	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:42:13Z
dc.date.available	2014-03-01T02:42:13Z
dc.date.issued	2003	en
dc.identifier.issn	01912216	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/30865
dc.subject	Collision Avoidance	en
dc.subject	Computer Simulation	en
dc.subject	Feedback Control	en
dc.subject	Global Convergence	en
dc.subject	Mobile Robot	en
dc.subject	Motion Planning	en
dc.subject	Real-time Implementation	en
dc.subject.other	Closed loop control systems	en
dc.subject.other	Collision avoidance	en
dc.subject.other	Computer simulation	en
dc.subject.other	Functions	en
dc.subject.other	Motion planning	en
dc.subject.other	Problem solving	en
dc.subject.other	Sensors	en
dc.subject.other	Uncertain systems	en
dc.subject.other	Vectors	en
dc.subject.other	Real time implementation	en
dc.subject.other	Sensory information	en
dc.subject.other	Mobile robots	en
dc.title	Closed Loop Motion Planning and Control for Mobile Robots in Uncertain Environments	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/CDC.2003.1273070	en
heal.identifier.secondary	http://dx.doi.org/10.1109/CDC.2003.1273070	en
heal.publicationDate	2003	en
heal.abstract	In this paper we present an extension to the navigation function methodology [6], [7] to the case where unmodelled obstacles are introduced in the workspace. A feedback control law is derived, based on the navigation function built on the initial workspace. Global convergence and collision avoidance properties are established. The derived closed form control law is suitable for real time implementation. Collision avoidance and global convergence properties are verified through computer simulations.	en
heal.journalName	Proceedings of the IEEE Conference on Decision and Control	en
dc.identifier.doi	10.1109/CDC.2003.1273070	en
dc.identifier.volume	3	en
dc.identifier.spage	2926	en
dc.identifier.epage	2931	en