Potential fields for nonholonomic vehicles

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

Research output: Contribution to conferencePaperpeer-review


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 languageEnglish (US)
Number of pages5
StatePublished - 1995
EventProceedings of the 10th IEEE International Symposium on Intelligent Control - Monterey, CA, USA
Duration: Aug 27 1995Aug 29 1995


ConferenceProceedings of the 10th IEEE International Symposium on Intelligent Control
CityMonterey, CA, USA

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering


Dive into the research topics of 'Potential fields for nonholonomic vehicles'. Together they form a unique fingerprint.

Cite this