Abstract
The problem of motion planning of a wheeled nonholonomic vehicle is treated by decomposing the problem to the subproblems: (i) find a collision free path and (ii) approximate this path with a nonholonomic collision free path. This is treated, in real time, by solving the first subproblem using a potential fields strategy and the second with nonholonomic tracking. Thus, collision avoidance of a nonholonomic wheeled vehicle in a feedback formulation is achieved.
| Original language | English (US) |
|---|---|
| Pages | 461-465 |
| Number of pages | 5 |
| State | Published - 1995 |
| Event | Proceedings of the 10th IEEE International Symposium on Intelligent Control - Monterey, CA, USA Duration: Aug 27 1995 → Aug 29 1995 |
Conference
| Conference | Proceedings of the 10th IEEE International Symposium on Intelligent Control |
|---|---|
| City | Monterey, CA, USA |
| Period | 8/27/95 → 8/29/95 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Modeling and Simulation
- Computer Science Applications
- Electrical and Electronic Engineering