• DocumentCode
    2839380
  • Title

    Obstacle Avoidance and Two Wheeled Mobile Robot Control Using Potential Function

  • Author

    Sekiguchi, Katsuya ; Deng, Mingcong ; Inoue, Akira

  • Author_Institution
    Okayama Univ., Okayama
  • fYear
    2006
  • fDate
    15-17 Dec. 2006
  • Firstpage
    2314
  • Lastpage
    2319
  • Abstract
    An obstacle avoidance scheme of two wheeled mobile robot is shown by selecting an appropriate Lyapunov function based on potential field method. When considering the obstacle, Lyapunov function may have some local minima. A method which erases the local minima is proposed by using a function which covers the minima by a plane surface. The effectiveness of the proposed method is verified by numerical simulations.
  • Keywords
    Lyapunov methods; collision avoidance; mobile robots; Lyapunov function; obstacle avoidance; potential field method; two wheeled mobile robot control; Angular velocity control; Control systems; Lyapunov method; Mobile robots; Motion control; Numerical simulation; Potential well; Robot control; Robot kinematics; Systems engineering and theory;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Industrial Technology, 2006. ICIT 2006. IEEE International Conference on
  • Conference_Location
    Mumbai
  • Print_ISBN
    1-4244-0726-5
  • Electronic_ISBN
    1-4244-0726-5
  • Type

    conf

  • DOI
    10.1109/ICIT.2006.372703
  • Filename
    4238025
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2839380