{"title":"Nonholonomic stabilization with collision avoidance for mobile robots","authors":"H. Tanner, S. Loizou, K. Kyriakopoulos","doi":"10.1109/IROS.2001.977149","DOIUrl":null,"url":null,"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.","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"451 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2001-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"61","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.2001.977149","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 61
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.
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