Closed Loop Navigation for Mobile Agents in Dynamic Environments

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

Closed Loop Navigation for Mobile Agents in Dynamic Environments

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

Electrical Engineering

Research output: Contribution to conference › Paper › peer-review

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.

Original language	English (US)
Pages	3769-3774
Number of pages	6
State	Published - 2003
Event	2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States Duration: Oct 27 2003 → Oct 31 2003

Other

Other	2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/Territory	United States
City	Las Vegas, NV
Period	10/27/03 → 10/31/03

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Cite this

@conference{39b32937fe4b4ad5b1ef30726d944eaa,

title = "Closed Loop Navigation for Mobile Agents in Dynamic Environments",

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.",

author = "Loizou, {Savvas G.} and Tanner, {Herbert G.} and Vijay Kumar and Kyriakopoulos, {Kostas J.}",

year = "2003",

language = "English (US)",

pages = "3769--3774",

note = "2003 IEEE/RSJ International Conference on Intelligent Robots and Systems ; Conference date: 27-10-2003 Through 31-10-2003",

}

TY - CONF

T1 - Closed Loop Navigation for Mobile Agents in Dynamic Environments

AU - Loizou, Savvas G.

AU - Tanner, Herbert G.

AU - Kumar, Vijay

AU - Kyriakopoulos, Kostas J.

PY - 2003

Y1 - 2003

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=0348040180&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0348040180&partnerID=8YFLogxK

M3 - Paper

AN - SCOPUS:0348040180

SP - 3769

EP - 3774

T2 - 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems

Y2 - 27 October 2003 through 31 October 2003

ER -

Closed Loop Navigation for Mobile Agents in Dynamic Environments

Abstract

Other

ASJC Scopus subject areas

Other files and links

Fingerprint

Cite this