Nonholonomic stabilization with collision avoidance for mobile robots
- 1 January 2001
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 3, 1220-1225
- https://doi.org/10.1109/iros.2001.977149
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.Keywords
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