A method for guidance and control of an autonomous vehicle in problems of border patrolling and obstacle avoidance

A method for guidance and control of an autonomous vehicle in problems of border patrolling and obstacle avoidance

We present a sliding mode based method for a unicycle-like vehicle control and guidance. The proposed guidance-control law is applied to the problems of border patrolling and obstacle avoidance. A mathematically rigorous analysis of this law is provided.

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Veröffentlicht in:Automatica (Oxford) 2011-03, Vol.47 (3), p.515-524
Hauptverfasser: Matveev, Alexey S., Teimoori, Hamid, Savkin, Andrey V.
Format: Artikel
Sprache:eng
Schlagworte:
Automation
Autonomous
Border patrolling
Borders
Cluttered environments
Law
Mathematical analysis
Navigation
Obstacle avoidance
Sliding mode
UAVs
Vehicles
Wheeled mobile robots
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Beschreibung
Zusammenfassung:We present a sliding mode based method for a unicycle-like vehicle control and guidance. The proposed guidance-control law is applied to the problems of border patrolling and obstacle avoidance. A mathematically rigorous analysis of this law is provided.
ISSN:0005-1098
1873-2836
DOI:10.1016/j.automatica.2011.01.024