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

Authors:
Alexey S. Matveev;Hamid Teimoori;Andrey V. Savkin
Affiliations:
Department of Mathematics and Mechanics, Saint Petersburg University, Universitetskii 28, Petrodvoretz, St. Petersburg, 198504, Russia;School of Electrical Engineering and Telecommunications, The University of New South Wales, Sydney 2052, Australia;School of Electrical Engineering and Telecommunications, The University of New South Wales, Sydney 2052, Australia
Venue:
Automatica (Journal of IFAC)
Year:
2011

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Abstract

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.