Motion Control For A Car-like Robot: Potential Field And Multi-agent Approaches
- 24 August 2005
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2, 1457-1463
- https://doi.org/10.1109/iros.1992.594574
Abstract
This paper is concerned with the problemof controlling the motion of a mobile robot movingin a time-varying environment. The study considers acar-like vehicle moving in a roadway-like environment.We present two approaches which enable the vehicleto execute a given nominal motion plan and to adjustit in order to avoid static and dynamic obstacles.The first approach is based on classical potential fieldtechniques. The second one relies upon a multi-agentapproach.I IntroductionWe are...Keywords
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