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

Savvas G. Loizou, Herbert G. Tanner, Vijay Kumar, Kostas J. Kyriakopoulos

Research output: Contribution to journalConference articlepeer-review

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.

Original languageEnglish (US)
Pages (from-to)2926-2931
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Volume3
StatePublished - 2003
Event42nd IEEE Conference on Decision and Control - Maui, HI, United States
Duration: Dec 9 2003Dec 12 2003

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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