Title :
Potential fields for nonholonomic vehicles
Author :
Kyriakopoulos, K.J. ; Kakambouras, P. ; Krikelis, N.J.
Author_Institution :
Dept. of Mech. Eng., Nat. Tech. Univ. of Athens, Greece
Abstract :
The problem of motion planing of a wheeled nonholonic vehicle is treated by decomposing the problem to the subproblems: 1) find a collision free path; and 2) approximate this path with a nonholonomic collision free path. This is treated, in real time, by solving the first subproblem using a potential fields strategy and the second one with nonholonomic tracking. Thus, collision avoidance of a nonholonomic wheeled vehicle in a feedback formulation is achieved
Keywords :
feedback; mobile robots; nonlinear systems; path planning; real-time systems; tracking; collision free path; feedback; mobile robots; motion planing; nonholonomic tracking; nonholonomic wheeled vehicles; potential fields; real time; Automatic control; Control systems; Feedback; Intelligent control; Intelligent systems; Joining processes; Mobile robots; Motion control; Vehicles; Wheels;
Conference_Titel :
Intelligent Control, 1995., Proceedings of the 1995 IEEE International Symposium on
Conference_Location :
Monterey, CA
Print_ISBN :
0-7803-2722-5
DOI :
10.1109/ISIC.1995.525099
