DocumentCode
3392553
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
fYear
1995
fDate
27-29 Aug 1995
Firstpage
461
Lastpage
465
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control, 1995., Proceedings of the 1995 IEEE International Symposium on
Conference_Location
Monterey, CA
ISSN
2158-9860
Print_ISBN
0-7803-2722-5
Type
conf
DOI
10.1109/ISIC.1995.525099
Filename
525099
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