Nonholonomic stabilization with collision avoidance for mobile robots

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

Nonholonomic stabilization with collision avoidance for mobile robots

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

Electrical Engineering

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

Abstract

This paper presents a motion planner and nonholonomic controller for a mobile robot, with global collision avoidance and convergence properties. An appropriately designed (dipolar) potential field is combined with discontinuous state feedback. A new class of Lyapunov functions is introduced and used for nonholonomic navigation. The obstacle avoidance and global asymptotic stability properties are verified through simulations.

Original language	English (US)
Pages	1220-1225
Number of pages	6
State	Published - 2001
Event	2001 IEEE/RSJ International Conference on Intelligent Robots and Systems - Maui, HI, United States Duration: Oct 29 2001 → Nov 3 2001

Conference

Conference	2001 IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/Territory	United States
City	Maui, HI
Period	10/29/01 → 11/3/01

ASJC Scopus subject areas

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

Cite this

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title = "Nonholonomic stabilization with collision avoidance for mobile robots",

abstract = "This paper presents a motion planner and nonholonomic controller for a mobile robot, with global collision avoidance and convergence properties. An appropriately designed (dipolar) potential field is combined with discontinuous state feedback. A new class of Lyapunov functions is introduced and used for nonholonomic navigation. The obstacle avoidance and global asymptotic stability properties are verified through simulations.",

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

year = "2001",

language = "English (US)",

pages = "1220--1225",

note = "2001 IEEE/RSJ International Conference on Intelligent Robots and Systems ; Conference date: 29-10-2001 Through 03-11-2001",

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AU - Tanner, Herbert G.

AU - Loizou, Savvas

AU - Kyriakopoulos, Kostas J.

PY - 2001

Y1 - 2001

N2 - This paper presents a motion planner and nonholonomic controller for a mobile robot, with global collision avoidance and convergence properties. An appropriately designed (dipolar) potential field is combined with discontinuous state feedback. A new class of Lyapunov functions is introduced and used for nonholonomic navigation. The obstacle avoidance and global asymptotic stability properties are verified through simulations.

AB - This paper presents a motion planner and nonholonomic controller for a mobile robot, with global collision avoidance and convergence properties. An appropriately designed (dipolar) potential field is combined with discontinuous state feedback. A new class of Lyapunov functions is introduced and used for nonholonomic navigation. The obstacle avoidance and global asymptotic stability properties are verified through simulations.

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M3 - Paper

AN - SCOPUS:0035558061

SP - 1220

EP - 1225

T2 - 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems

Y2 - 29 October 2001 through 3 November 2001

ER -

Nonholonomic stabilization with collision avoidance for mobile robots

Abstract

Conference

ASJC Scopus subject areas

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