Hybrid control of a constrained velocity unicycle with local sensing

Oikonomopoulos, AS; Loizou, SG; Kyriakopoulos, KJ

dc.contributor.author	Oikonomopoulos, AS	en
dc.contributor.author	Loizou, SG	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:45:29Z
dc.date.available	2014-03-01T02:45:29Z
dc.date.issued	2008	en
dc.identifier.issn	01912216	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/32274
dc.subject	Computer Simulation	en
dc.subject	Fuel Consumption	en
dc.subject	Hybrid Control	en
dc.subject	Input Constraint	en
dc.subject	Mobile Agent	en
dc.subject	Motion Planning	en
dc.subject	Obstacle Avoidance	en
dc.subject	2 dimensional	en
dc.subject	3 dimensional	en
dc.subject.other	Goal configurations	en
dc.subject.other	Hybrid control schemes	en
dc.subject.other	Hybrid controllers	en
dc.subject.other	Hybrid controls	en
dc.subject.other	Input constraints	en
dc.subject.other	Kinematic constraints	en
dc.subject.other	Local sensing	en
dc.subject.other	Non-holonomic	en
dc.subject.other	Non-trivial	en
dc.subject.other	Obstacle avoidances	en
dc.subject.other	Sensing devices	en
dc.subject.other	Vehicle systems	en
dc.subject.other	Sensors	en
dc.title	Hybrid control of a constrained velocity unicycle with local sensing	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/CDC.2008.4738994	en
heal.identifier.secondary	http://dx.doi.org/10.1109/CDC.2008.4738994	en
heal.identifier.secondary	4738994	en
heal.publicationDate	2008	en
heal.abstract	This paper introduces a hybrid control scheme for steering a non-holonomic agent with limited sensing capabilities and input constraints through a stationary but unknown workspace, occupied by arbitrarily shaped obstacles. The considered constraints (i.e. constant linear and bounded angular velocities) apply to a wide category of vehicle systems. Limited sensing is realized by a radially bounded sensing device. The proposed hybrid controller respects the kinematic constraints while guaranteeing obstacle avoidance and convergence to a specified goal configuration. In addition to the analytical guarantees, we demonstrate the effectiveness of the proposed hybrid control scheme through non-trivial computer simulations. © 2008 IEEE.	en
heal.journalName	Proceedings of the IEEE Conference on Decision and Control	en
dc.identifier.doi	10.1109/CDC.2008.4738994	en
dc.identifier.spage	1753	en
dc.identifier.epage	1758	en