Closed loop navigation for mobile agents in dynamic environments

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 non-smooth backstepping. The combined controller g...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Loizou, S.G., Tanner, H.G., Kumar, V., Kyriakopoulos, K.J.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Backstepping Collision avoidance Control systems Convergence Mobile agents Mobile robots Motion control Motion planning Navigation Real time systems
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