Closed Loop Navigation for Mobile Agents in Dynamic 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.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/30866
dc.subject	Collision Avoidance	en
dc.subject	Computer Simulation	en
dc.subject	Dynamic Environment	en
dc.subject	Mobile Agent	en
dc.subject	Mobile Robot	en
dc.subject	Motion Planning	en
dc.subject	Potential Field	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	Motion planning	en
dc.subject.other	Closed loop navigation	en
dc.subject.other	Mobile agents	en
dc.subject.other	Mobile robots	en
dc.title	Closed Loop Navigation for Mobile Agents in Dynamic Environments	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/IROS.2003.1249741	en
heal.identifier.secondary	http://dx.doi.org/10.1109/IROS.2003.1249741	en
heal.publicationDate	2003	en
heal.abstract	We apply a novel motion planning and control methodology, which is based on a non-smooth navigation function, to a point mobile robot moving amongst moving obstacles. The chattering introduced by the discontinuous potential field is suppressed using nonsmooth backstepping. The combined controller guarantees global asymptotic convergence and collision avoidance. This controller is particularly suitable for real time implementation on systems with limited computational resources. The effectiveness of the proposed scheme is verified through computer simulations.	en
heal.journalName	IEEE International Conference on Intelligent Robots and Systems	en
dc.identifier.doi	10.1109/IROS.2003.1249741	en
dc.identifier.volume	4	en
dc.identifier.spage	3769	en
dc.identifier.epage	3774	en