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Abstract: We apply a novel motion planning and control methodology, which is based on a non-smooth navigation function, to a point mobile robot moving amongst moving obstacles. The chattering introduced by the discontinuous potential field is suppressed using nonsmooth backstepping. The combined controller guarantees global asymptotic convergence and collision avoidance. This controller is particularly suitable for real time implementation on systems with limited computational resources. The... (Update)
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BibTeX entry: (Update)
@misc{ herbert-closed,
author = "Savvas Loizou Herbert",
title = "Closed Loop Navigation for Mobile Agents in Dynamic Environments",
url = "citeseer.ist.psu.edu/674558.html" }
Citations (may not include all citations):317 Optimization and Nonsmooth Analysis (context) - Clarke - 1983
109 Differential equations with discontinuous right-hand sides (context) - Filippov - 1988
105 Exact robot navigation using artificial potential functions (context) - Rimon, Koditschek - 1992
81 Nonlinear and Adaptive Control Design (context) - Krsti, Kanellakopoulos et al. - 1995
55 Robot navigation functions on manifolds with boundary (context) - Koditschek, Rimon - 1990
9 Nonholonomic stabilization with collision avoidance for mobi.. - Tanner, Loizou et al. - 2001
7 Lyapunov stability theory of nonsmooth systems (context) - Shevitz, Paden - 1910
4 Nonholonomic navigation and control of cooperating mobile ma.. - Tanner, Loizou et al. - 2003
3 Backstepping for nonsmooth systems (context) - Tanner, Kyriakopoulos - 2003
2 Optimal and sub optimal motion planning for collision avoida.. (context) - Kyriakopoulos, Saridis - 1995
1 A Supervisory Control Strategy for Real-Time Navigation of M.. (context) - Kyriakopoulos - 1991
Documents on the same site (http://users.ntua.gr/sloizou/): More
Closed Loop Navigation for Multiple Non-Holonomic Vehicles - Loizou, Kyriakopoulos (2003) (Correct)
Nonholonomic Navigation and Control of Cooperating.. - Tanner, Loizou.. (2002) (Correct)
Closed Loop Motion Planning and Control for Mobile Robots.. - Savvas Loizou Herbert (Correct)
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