Title :
Nonholonomic stabilization with collision avoidance for mobile robots
Author :
Tanner, Herbert G. ; Loizou, Savvas ; Kyriakopoulos, Kostas J.
Author_Institution :
Dept. of Mech. Eng., Nat. Tech. Univ. of Athens, Greece
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 :
Lyapunov methods; asymptotic stability; collision avoidance; convergence; mobile robots; state feedback; Lyapunov functions; collision avoidance; convergence; dipolar potential field; discontinuous state feedback; global asymptotic stability properties; mobile robots; motion planner; nonholonomic controller; nonholonomic navigation; nonholonomic stabilization; obstacle avoidance; Collision avoidance; Control systems; Convergence; Mobile robots; Motion control; Navigation; Orbital robotics; Robot kinematics; State feedback; Topology;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.977149
