Closed loop navigation for multiple non-holonomic vehicles

Loizou, SG; Kyriakopoulos, KJ

dc.contributor.author	Loizou, SG	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:42:13Z
dc.date.available	2014-03-01T02:42:13Z
dc.date.issued	2003	en
dc.identifier.issn	10504729	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/30867
dc.subject	Collision Avoidance	en
dc.subject	Computer Simulation	en
dc.subject	Feedback Control	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	Algorithms	en
dc.subject.other	Collision avoidance	en
dc.subject.other	Computer simulation	en
dc.subject.other	Feedback control	en
dc.subject.other	Fuzzy control	en
dc.subject.other	Fuzzy sets	en
dc.subject.other	Motion planning	en
dc.subject.other	Navigation	en
dc.subject.other	Velocity	en
dc.subject.other	Closed loop navigation	en
dc.subject.other	Multiple non-holonomic vehicles	en
dc.subject.other	Robots	en
dc.title	Closed loop navigation for multiple non-holonomic vehicles	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.2003.1242255	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.2003.1242255	en
heal.publicationDate	2003	en
heal.abstract	In this paper we incorporate dipolar potential fields used for nonholonomic navigation into a novel potential function designed for multi-robot navigation. The derived navigation function is suitable for navigation of multiple nonholonomic vehicles. A properly designed discontinuous feedback control law is applied to steer the nonholonomic vehicles. The derived closed form control scheme provides robust navigation with guaranteed collision avoidance and global convergence properties, as well as fast feedback, rendering the methodology particularly suitable for real time implementation. Collision avoidance and global convergence properties are verified through non-trivial computer simulations.	en
heal.journalName	Proceedings - IEEE International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.2003.1242255	en
dc.identifier.volume	3	en
dc.identifier.spage	4240	en
dc.identifier.epage	4245	en