Navigation of nonholonomic vehicles in complex environments with potential fields and tracking

K. J. Kyriakopoulos; P. Kakambouras; N. J. Krikelis

Navigation of nonholonomic vehicles in complex environments with potential fields and tracking

K. J. Kyriakopoulos, P. Kakambouras, N. J. Krikelis

Electrical Engineering

Research output: Contribution to journal › Conference article › peer-review

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)
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

Cite this

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title = "Navigation of nonholonomic vehicles in complex environments with potential fields and tracking",

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.",

author = "Kyriakopoulos, {K. J.} and P. Kakambouras and Krikelis, {N. J.}",

year = "1996",

language = "English (US)",

volume = "4",

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journal = "Proceedings - IEEE International Conference on Robotics and Automation",

issn = "1050-4729",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "Proceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) ; Conference date: 22-04-1996 Through 28-04-1996",

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AU - Kyriakopoulos, K. J.

AU - Kakambouras, P.

AU - Krikelis, N. J.

PY - 1996

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N2 - 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.

AB - 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.

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M3 - Conference article

AN - SCOPUS:0029695656

SN - 1050-4729

VL - 4

SP - 3389

EP - 3394

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

T2 - Proceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4)

Y2 - 22 April 1996 through 28 April 1996

ER -

Navigation of nonholonomic vehicles in complex environments with potential fields and tracking

Abstract

ASJC Scopus subject areas

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