Abstract
We treat the problem of navigation of a wheeled nonholonomic vehicle in an clattered environment by: (i) finding, at every instant, a new collision free reference position using potential fields, and (ii) tracking this using nonholonomic tracking. Thus, our feedback solution can be applied in real time and guarantee both convergence to a final position and collision avoidance. The issue of final orientation accommodation is resolved for a number of practical configurations by using a fictitious obstacle around the goal state.
Original language | English (US) |
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Pages (from-to) | 3389-3394 |
Number of pages | 6 |
Journal | Proceedings - IEEE International Conference on Robotics and Automation |
Volume | 4 |
State | Published - 1996 |
Event | Proceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA Duration: Apr 22 1996 → Apr 28 1996 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering