Closed loop navigation for multiple non-holonomic vehicles

Savvas G. Loizou, Kostas J. Kyriakopoulos

Research output: Contribution to journalConference articlepeer-review


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.

Original languageEnglish (US)
Pages (from-to)4240-4245
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - 2003
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: Sep 14 2003Sep 19 2003

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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